Optimal control research on a manipulator's combined feedback device by the variational method genetic algorithm radial basis function method. (11th June 2019)

• Record Type: Journal Article
• Authors: Wang, Song; Wang, Zhaoyang; Hu, Yanzhu
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 3(2019:May/Jun.)
• Publication Date: 2019-06-11
• Subjects: Optimal control -- combined feedback control -- vibration method -- GA-RBF; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419855824
• Languages: English
• ISSNs: 1729-8806

Abstract

This article aims to improve the accuracy of each joint in a manipulator and to ensure the high-speed and real-time requirements. A method called the variational method genetic algorithm radial basis function, which is based on a combination feedback controller, is proposed to solve the optimal control problem. It is proposed a combined feedback with a linear part and a nonlinear part. We reconstruct the manipulator's kinematics and dynamics models with a feedback control. In this model, the optimal trajectory, which was solved by the variation method, is regarded as the desired output. The other one is also established an improved genetic algorithm radial basis function neural network model. The optimal trajectory is rapidly solved by using the desired output and the improved genetic algorithm radial basis function neural network. This method can greatly improve the speed of the calculation and guarantee real-time performance while simultaneously ensuring accuracy.