Differential Evolution Algorithms Comparison Used to Tune a Visual Control Law

被引：4

作者：

Sanchez-Sanchez, Pablo ^{[1
]}

Guillermo Cebada-Reyes, Jose ^{[2
]}

Ruiz-Garcia, Agustin ^{[3
]}

Montiel-Martinez, Aidee ^{[1
]}

Reyes-Cortes, Fernando ^{[1
]}

机构：

[1] BUAP, Fac Ciencias Elect, Puebla 72530, Mexico

[2] Tecnol Nacl Mexico, ITES Teziutlan, Teziutlan 73960, Mexico

[3] UACH, Dept Ingn Agr, Texcoco 56230, Mexico

来源：

IEEE ACCESS | 2022年 / 10卷

关键词：

Differential evolution algorithms; PD plus type control structure; performance index; tuning control structures; centroid; visual-servoing; plant tissue analysis; leaves cutting; MODEL; OPTIMIZATION;

D O I：

10.1109/ACCESS.2022.3168965

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the results of the comparative study of differential evolution algorithms used as an alternative for tuning the gains of a PD+ type visual control structure, since tuning PD or PID type control structures is not trivial. We made the quantitative comparison using the performance index (L-2-norm) and we applied the algorithm of best performance in a case of study (detection and cutting of leaves using a Cartesian robot). We also present the stability analysis according to Lyapunov theory and experimental results.

引用

页码：46028 / 46042

页数：15

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