유전알고리즘을 이용한 로봇 매니퓰레이터의모델예측제어기 설계 Design of MPC for Robot Manipulators using Genetic Algorithms
한국기계기술학회지
(韓國機械技術學會誌)
제23권 제5호
(2021.10)
pp.848-856
pp.848-856
한국기계기술학회
(Korean Society of Mechanical Technology)
초록
This paper proposes a model predictive controller of robot manipulators using a genetic algorithm to secure the best performance by performing parameter optimization with the genetic algorithm. Genetic algorithm is a natural evolutionary process modeled as a computer algorithm and has excellent performance in global optimization, so it is useful for tuning control parameters. The sliding mode controller and inverse dynamics controller are included in the lower part of the model prediction controller to minimize the problems caused by non-linearity and uncertainty of the robot manipulator. The performance superiority of the proposed method as described above has been confirmed in detail through a simulation study.
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