Servocontrol of a Mobile Robot by Using Genetic Algorithms | Zendy

Jun Tang | Zendy; Keigo Watanabe | Zendy; Katsutoshi Kuribayashi | Zendy

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Servocontrol of a Mobile Robot by Using Genetic Algorithms

Author(s) -

Jun Tang,

Keigo Watanabe,

Katsutoshi Kuribayashi

Publication year - 1999

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1999.p0140

Subject(s) - weighting , genetic algorithm , mobile robot , controller (irrigation) , computer science , algorithm , control theory (sociology) , riccati equation , robot , control (management) , mathematical optimization , control engineering , mathematics , engineering , artificial intelligence , medicine , mathematical analysis , biology , agronomy , radiology , differential equation

One problem that not yet solved in optimum servocontroller design is determination of positive definite matrices Q and R for the Riccati equation, although such servocontrollers have been applied in many complex control processes. We propose a way to tune weighting matrices by applying genetic algorithms (GAs) to type 1 and 2 optimum linear servocontrollers for a mobile robot. Simulation verified the controller's effectiveness.

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