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.

Авторы
Редакторы
-
Издательство
Institute of Electrical and Electronics Engineers Inc.
Номер выпуска
-
Язык
Английский
Страницы
2413-2418
Статус
Опубликовано
Подразделение
-
Ссылка
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Номер
7603997
Том
-
Год
2016
Организации
  • 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
Ключевые слова
control synthesis; feedback control; identification
Дата создания
19.10.2018
Дата изменения
19.10.2018
Постоянная ссылка
https://repository.rudn.ru/ru/records/article/record/3771/