Network operator methodto solve the problem of identification control synthesis for mobile robot

Аuthors

Dang T. P.^1*, Diveev A. I.^2**, Sofronova E. A.^***

1. Peoples' Friendship University of Russia, 6, Mikluho-Maklaya str., Moscow, 117198, Russia
2. Federal Research Center “Computer Science and Control” of Russian Academy of Sciences, 44-2, Vavilova str., Moscow, 119333, Russia

*e-mail: dtp1271983@yahoo.com
**e-mail: aidiveev@mail.ru
***e-mail: sofronova_ea@mail.ru

Abstract

The paper considers a problem of identification control synthesis for mobile robot. The problem emerges in cases when it is necessary to solve the problem of the control system synthesis for an object, which mathematical model is completely unknown. Examples for the occurrence of such a problem while robot guidance may bepresented as follows: the presence of an object described by a highly complex mathematical model; problems for which the use of the model in full is not necessary, or mathematical model of the robot is not known completely due to external, environment, as well as in case of partial loss of functioning.

In this paper, we use a numerical method of the network operator to solve the problem of identification control synthesis for mobile robot. This method allows determining the structure and parameters of mathematical expressions in the form of integer matricesusing evolutionary algorithms. The main advantage of this principle consists in using small variations of the basic solution. The principle lies in the fact that the researcher defines one basic solution, and the evolutionary algorithm searches for the optimal solution on the given set of basic solution variations. This approach allows building a set of possible solutions, where the majority of the functions satisfy the condition of the control goal. The principle of small variations reduces as well the searching range, limited to the vicinity of the basic solution. In the process of searching, basic solution is periodically substituted by the best current solution. The network operator method was effectively used to solve various problems of synthesis and identification.

The problem of identification control system synthesis consists of two tasks: identification of mathematical model of a controlled object and a control system synthesis for the obtained model. Initially, we apply the network operator method to solve the problem identification, in which, the quality criterion is a trajectory deviation from the experimental data. The experiments were performed on the real object, using the control, close to the required for control system synthesis problem. At the second stage, we solve the control system synthesis problem by the network operator method as well. We use another network operator of different dimensionality and with different quality criteria. We realize the network operator obtained as consequence of synthesis in the control unit of the real object and verify the results of identification control problem solution.

The results of conducted experiments displayed satisfactory quality of identification and control synthesis problem solution.

Keywords:

control systems identification, control systems synthesis, network operator method, genetic algorithm

References

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