A Geno-Hydra Control System: Design and Tuning Hybrid Controller based on Hydra Control Structure by using Genetic Algorithms

This paper shows how to design the hybrid control system based on hydra control structure by introducing two design strategies which are as following: double head and line up. These two strategies use genetic algorithms to improve parameters in control system and they also situate the challenge and best-selection processes which are the methods to compare the efficiency of the system after they have been genetically calculated. In order to select an appropriate control system in each layer, the simulation's results in the end will show the test with non-linear plant to show the efficiency of control system after it has been developed by designing and tuning process

[1]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[2]  D. E. Goldberg,et al.  Genetic Algorithms in Search , 1989 .

[3]  Guanrong Chen,et al.  Design and implementation of fuzzy P^2ID controller for handlebar control of a bicycle robot , 2002, Integr. Comput. Aided Eng..

[4]  Guanrong Chen,et al.  Fuzzy PD scheme for underactuated robot swing-up control , 1998, 1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228).

[5]  E.N. Sanchez,et al.  Real-time fuzzy PI + PD control for an underactuated robot , 2002, Proceedings of the IEEE Internatinal Symposium on Intelligent Control.

[6]  David E. Goldberg,et al.  Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[7]  Sam Kwong,et al.  Genetic Algorithms : Concepts and Designs , 1998 .

[8]  Pitikhate Sooraksa,et al.  Hydra Control System , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[9]  Guanrong Chen,et al.  Fuzzy (PI+D)/sup 2/ control for flexible robot arms , 1996, Proceedings of the 1996 IEEE International Symposium on Intelligent Control.

[10]  Kiyotaka Izumi,et al.  Fuzzy behavior-based control for a task of three-link manipulator , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).