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WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

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Observer-based differential evolution constrained control for safe reference tracking in robots.

José de Jesús Rubio¹, Eduardo Orozco¹, Daniel Andres Cordova¹

¹Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, Ciudad de México, 02250, Mexico.

Neural Networks : the Official Journal of the International Neural Network Society

|April 3, 2024

Summary

This summary is machine-generated.

This study introduces a constrained control and observer for robots to ensure safe operation by managing torque and estimating perturbations. A differential evolution method optimizes control gains for balanced performance and energy efficiency.

Keywords:

Best gains Constrained control Constrained observer Differential evolution optimizer Safe perturbation estimation Safe reference tracking

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Area of Science:

Robotics
Control Systems Engineering
Optimization Algorithms

Background:

High torque inputs in robotic controls can lead to increased energy consumption.
Inaccurate perturbation estimations in observers may cause damage to robotic devices.
Safe reference tracking and perturbation estimation are critical for robotic system reliability.

Purpose of the Study:

To propose a constrained control method for safe reference tracking in robots.
To develop a constrained observer for safe perturbation estimation in robotic systems.
To introduce a method for optimizing control gains to balance safety and energy efficiency.

Main Methods:

An observer-based differential evolution constrained control approach is proposed.
A constrained observer is designed for estimating perturbations safely.
A constrained control strategy is implemented for safe reference tracking.
Differential evolution is employed to determine optimal control gains.
Robust stability of the proposed control system is mathematically assured.

Main Results:

The proposed constrained observer effectively estimates perturbations, preventing device damage.
The constrained control ensures safe reference tracking, even with significant external disturbances.
The differential evolution optimization successfully identifies control gains that balance safe tracking and energy consumption.
The observer-based differential evolution constrained control demonstrates robust stability.
The method was successfully applied to safe reference tracking in two distinct robotic applications.

Conclusions:

The developed observer-based differential evolution constrained control offers a robust solution for safe and energy-efficient robotic operations.
This approach enhances robotic safety by preventing damage from excessive torque and inaccurate estimations.
The optimization technique provides a systematic way to tune control parameters for improved performance in real-world robotic applications.