A problem of identification control synthesis for mobile robot by the network operator method

A problem of identification control synthesis is considered. This problem arises when it is necessary to perform a control system synthesis for an object which mathematical model is unknown. To solve the identification control synthesis problem, we use a numerical method of the network operator. The method allows finding both the structure and the parameters of mathematical expressions in the form of integer matrices using evolutionary algorithms for mathematical model identification and for control synthesis of identified model. Experimental data for identification were obtained from mobile robot. Then an automated control synthesis was performed for identified model. To prove the computational results the synthesized control was implemented in real mobile robot. The results of application of network operator method to identification control synthesis for mobile robot are presented. © 2016 IEEE.

Publisher
Institute of Electrical and Electronics Engineers Inc.
Language
English
Pages
2413-2418
Status
Published
Number
7603997
Year
2016
Organizations
  • 1 Peoples' Friendship University of Russia, PFUR, Moscow, Russian Federation
  • 2 Federal Research Center 'Computer Science and Control', Russian Academy of Sciences, FRC CSandC RAS, Peoples' Friendship University of Russia, PFUR, Moscow, Russian Federation
Keywords
control synthesis; feedback control; identification
Date of creation
19.10.2018
Date of change
19.10.2018
Short link
https://repository.rudn.ru/en/records/article/record/3771/