Mahmoodabadi M J, Taherkhorsandi M, Bagheri A
Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran.
Department of Mechanical Engineering, University of Texas at San Antonio, San Antonio, TX 78249, USA.
ScientificWorldJournal. 2014 Jan 27;2014:303101. doi: 10.1155/2014/303101. eCollection 2014.
An optimal robust state feedback tracking controller is introduced to control a biped robot. In the literature, the parameters of the controller are usually determined by a tedious trial and error process. To eliminate this process and design the parameters of the proposed controller, the multiobjective evolutionary algorithms, that is, the proposed method, modified NSGAII, Sigma method, and MATLAB's Toolbox MOGA, are employed in this study. Among the used evolutionary optimization algorithms to design the controller for biped robots, the proposed method operates better in the aspect of designing the controller since it provides ample opportunities for designers to choose the most appropriate point based upon the design criteria. Three points are chosen from the nondominated solutions of the obtained Pareto front based on two conflicting objective functions, that is, the normalized summation of angle errors and normalized summation of control effort. Obtained results elucidate the efficiency of the proposed controller in order to control a biped robot.
引入一种最优鲁棒状态反馈跟踪控制器来控制双足机器人。在文献中，控制器的参数通常通过繁琐的试错过程来确定。为了消除这一过程并设计所提出控制器的参数，本研究采用了多目标进化算法，即所提出的方法、改进的NSGAII、Sigma方法以及MATLAB的工具箱MOGA。在所使用的用于设计双足机器人控制器的进化优化算法中，所提出的方法在设计控制器方面表现更好，因为它为设计者提供了充足的机会，使其能够根据设计标准选择最合适的点。基于两个相互冲突的目标函数，即角度误差的归一化总和与控制量的归一化总和，从所获得的帕累托前沿的非支配解中选择三个点。所得结果阐明了所提出的控制器在控制双足机器人方面的有效性。
