Robot Control Based on Genetic Algorithm and Servo Tracking Optimal Controller

被引：0
|
作者：
Guo Ying [1 ]
Wang Weihong [1 ]
Wu Sentang [1 ]
Yan Shenao [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
来源：
PROCEEDINGS OF 2017 IEEE 2ND INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC) | 2017年
关键词：
Two-wheeled mobile robot; Servo tracking optimal control; GA;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Through the analysis of the force and moment of the robot, the kinetic equation of the robot is obtained, and the linearization model of the system can be obtained by linearization of small perturbation. According to the principle of servo tracking optimal control, the expression of servo controller optimal controller is deduced. Then the principle of basic genetic algorithm and genetic operation are introduced. Finally, the genetic algorithm is applied to the optimization problem of the optimal controller parameters of the servo tracking, which reduces the blindness of the initial optimization and saves the computation time.
引用
收藏
页码：1740 / 1745
页数：6
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