Hybrid evolutionary algorithm for synthesized optimal control problem for group of interacting robots

This paper considers the optimal control problem for a group of interacting robots. To solve the problem, a hybrid evolutionary algorithm is applied that consists of two popular evolutionary algorithms: particle swarm optimization and gray wolf optimizer. When solving the problem, we use the approach of synthesized optimal control. Initially, we make controlled objects stable in the state space with respect to a certain point. Then we look for coordinates of the stabilization points using the hybrid algorithm. Points should be located so that when switching stabilization points after each fixed time interval, the objects reach the control goal without violating the phase constraints with the optimal value of the quality criterion. © 2019 IEEE.

Авторы
Издательство
Institute of Electrical and Electronics Engineers Inc.
Язык
Английский
Страницы
876-881
Статус
Опубликовано
Номер
8820344
Год
2019
Организации
  • 1 Department Robotics Control of Federal Research Center, Computer Science and Control of Russia Academy of Sciences, 44 Vavilova str., Moscow, 119333, Russian Federation
  • 2 Department Mechanics and Mechatronics, RUDN University, Moscow, 117198, Russian Federation
  • 3 Federal Research Center Computer Science and Control, Russia Academy of Sciences, Moscow, 119333, Russian Federation
Ключевые слова
Optimal control systems; Particle swarm optimization (PSO); Stabilization; Controlled objects; Fixed time interval; Hybrid algorithms; Hybrid evolutionary algorithm; Optimal control problem; Phase constraints; Quality criteria; Switching stabilization; Quality control
Дата создания
24.12.2019
Дата изменения
20.05.2021
Постоянная ссылка
https://repository.rudn.ru/ru/records/article/record/55217/
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