Implementation of evolutionary active force control in a 5-link biped robot

被引：1

作者：

Kwek, LC ^{[1
]}

Kang, CC ^{[1
]}

Loo, CK ^{[1
]}

Wong, EK ^{[1
]}

机构：

[1] Multimedia Univ, Fac Engn & Technol, Melaka 75450, Malaysia

来源：

INTELLIGENT AUTOMATION AND SOFT COMPUTING | 2005年 / 11卷 / 03期

关键词：

biped; proportional-derivative control; active force control; crude approximation; and differential evolution;

D O I：

10.1080/10798587.2005.10642902

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the application of Active Force Control (AFC) incorporated with a conventional Proportional-Derivative (PD) controller to a five-link biped robot has been studied and simulated. The efficacy and robustness of the AFC strategy in suppressing external disturbances was examined on a model using Crude Approximation (CA) method. However, the task of tuning the PD controller parameters and the inertia matrix coefficient is tedious and time-consuming. Thus, an evolutionary strategy - Differential Evolution (DE) has been proposed in order to tune automatically the parameter gains in a systematic approach. The effectiveness of the proposed method is investigated, and it is found that the system is robust and stable even under influence of disturbances.

引用

页码：167 / 178

页数：12

共 17 条

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