Global Optimization of Robot Control System Via Generalized Geometric Programming

A model of the robot control system can be described as a generalized geometric programming problem. The objection is to minimize the error subject to stability and torque constraints. A global optimization approach of generalized geometric programming has been used for solving the model. The relationships of sampling tithe versus the proportional gain (K-p), integral gain K-i, and the derivative gain K-v are studied. It is showed that the values of the control parameters (K-p, K-i, K-v) decrease as the sampling time increases before becoming flat. It is also concluded that generalized geometric programming is an efficient mathematical technique for the nonlinear control of robotic system.