A solution of synthesized optimal control problem for interaction of robots by evolutionary computations

A paper considers a synthesized optimal control problem. To solve this problem, it is necessary to solve the problem of control system synthesis for stabilization of control object relatively a point in the state space, and then to solve the second problem of optimal control to find some stabilization points for movement from initial position to terminal one with the best value of the quality criterion. For the first problem a network operator method was used. It finds a mathematical expression of a feedback control system in the form of oriented calculating graph by evolutionary algorithm. For solution of the second problem a particle swarm optimization was applied. In experiment the control object is a pair of robots that move a cart joined by rigid hinged hitch from initial point to terminal one trying to avoid obstacles. © 2019 IEEE.

Authors
Diveev A. 1 , Sofronova E.2 , Shmalko E. 2
Conference proceedings
Proceedings of the 14th IEEE Conference on Industrial Electronics and Applications, ICIEA 2019
Publisher
Institute of Electrical and Electronics Engineers Inc.
Language
English
Pages
756-761
Status
Published
DOI
10.1109/ICIEA.2019.8834364
Number
8834364
Year
2019
Organizations
  • 1 Dept. of Robotics Contol of Fed. Reasearch Ctr. Comp. Sci. and Contr. of Russian Academy of Sciences, Department of Mechanics and Mechatronics of RUDN University, Moscow, Russian Federation
  • 2 Department of Robotics Contol of Federal Reasearch Center Computer Science and Control of Russian, Academy of Sciences, Moscow, Russian Federation
Keywords
Control synthesis; Evolutionary computation; Optimal control; Particle swarm optimization; Symbolic regression
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