원문정보
Design of MPC for Robot Manipulators using Genetic Algorithms
초록
영어
This paper proposes a model predictive controller of robot manipulators using a genetic algorithm to secure the best performance by performing parameter optimization with the genetic algorithm. Genetic algorithm is a natural evolutionary process modeled as a computer algorithm and has excellent performance in global optimization, so it is useful for tuning control parameters. The sliding mode controller and inverse dynamics controller are included in the lower part of the model prediction controller to minimize the problems caused by non-linearity and uncertainty of the robot manipulator. The performance superiority of the proposed method as described above has been confirmed in detail through a simulation study.
목차
1. 서론
2. 로봇 매니퓰레이터의 모델예측제어기
2.1 비선형 동역학의 선형화
2.2 적분 슬라이딩 모드 제어
2.3 모델예측제어
3. 유전알고리즘과 모델예측제어기 튜닝
4. 모의실험
5. 결론
후기
References