Title :
Research and application based on genetically optimized active disturbance rejection controller
Author :
Liu, Xiaoli ; Liang, Weihai ; Kang, Haijing
Author_Institution :
Dept. of Electron. Inf. & Comput. Technol., Chengdu Univ. of Technol., Leshan, China
Abstract :
A method of adopting the Adaptive Genetic Algorithm (AGA) to optimize parameters of the Active Disturbance Rejection Controller (ADRC) is proposed, which well solved the problem of adjusting its over-abundant parameters. A simplified 1-level ADRC is used to control the sinusoidal movement of the plane two-link manipulator in horizontal direction. Two 1-level ADRC of the same construction are used to implement the calibration-free visual servoing control of a six Degree-Of-Freedoms (DOFs) robot. Simulation results demonstrate the effectiveness of this method.
Keywords :
adaptive systems; genetic algorithms; manipulators; motion control; robot vision; visual servoing; 1-level ADRC; 6 degree-of-freedoms robot; AGA; adaptive genetic algorithm; calibration-free visual servoing control; genetically optimized active disturbance rejection controller; plane two-link manipulator; sinusoidal movement control; Genetic algorithms; Manipulators; Optimization; Robot kinematics; Robot vision systems; Simulation; Active Disturbance Rejection Controller; Adaptive Genetic Algorithm; Robot; Visual servoing;
Conference_Titel :
Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC), 2011 2nd International Conference on
Conference_Location :
Deng Leng
Print_ISBN :
978-1-4577-0535-9
DOI :
10.1109/AIMSEC.2011.6009940
