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Observer-based differential evolution constrained control for safe reference tracking in robots
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AI
DOI：10.1016/j.neunet.2024.106273.png)
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Abstract
En 中文
Big torque inputs in controls could increase energy consumption, and big estimated perturbations in observers could produce device damages. Therefore, it would be interesting to propose a constrained control for safe reference tracking and a constrained observer for safe perturbation estimation in robots. Furthermore, the best gains in controls produce a balance between safe reference tracking and save energy consumption. Therefore, it would be interesting to propose a method to find the best gains. In this paper, an observer -based differential evolution constrained control is proposed for safe reference tracking in robots. The contributions are described as follows: (1) a constrained observer is proposed for safe perturbation estimation in robots, (2) a constrained control is proposed for safe reference tracking in robots, (3) a differential evolution optimizer is used to find the best gains in an observer -based constrained control, (4) the robust stability in an observer -based constrained control is assured, (5) the pseudo -code of an observer -based differential evolution constrained control is detailed. The proposed observer -based differential evolution constrained control is applied for safe reference tracking in two robots.
Keywords:
Constrained observer
Constrained control
Differential evolution optimizer
Safe reference tracking
Safe perturbation estimation
Best gains
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6.3
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3.0W
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