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Method for optimizing robot control system based on NSGA-II fuzzy logic inference

A technology of control system and optimization method, applied in the direction of comprehensive factory control, program control manipulator, manipulator, etc.

Active Publication Date: 2020-05-29
SHAANXI SCI TECH UNIV
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Problems solved by technology

When the control variable increases to a certain threshold, the complexity of the fuzzy rules and the control accuracy will appear contradictory

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  • Method for optimizing robot control system based on NSGA-II fuzzy logic inference
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  • Method for optimizing robot control system based on NSGA-II fuzzy logic inference

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Embodiment Construction

[0051] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0052] Such as figure 1 As shown, a robot control system optimization method based on NSGA-II fuzzy logic inference, including the following steps:

[0053] S1. Analyze the control system of the mobile robot to determine the input and output quantities and fuzzy subsets:

[0054] The general mobile robot kinematics equation is:

[0055]

[0056] Among them, x, y, and θ are robot poses, v, w are linear velocity and angular velocity. v ref 、w ref For the ideal input, set the position command as (x m ,y m ,θm ), y=[x y θ] T For the actual output, the pose error function is defined as e(x,y,θ), the error rate of change function is ec(x,y,θ), and the control variable u=[v ref w ref ] T ;

[0057] According to the domain of input a...

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Abstract

The invention discloses a method for optimizing a robot control system based on NSGA-II fuzzy logic inference. The method comprises the following steps of analyzing the mobile robot control system, and determining the input-output volume and fuzzy subsets; and based on the NSGA-II fuzzy logic inference, optimizing the robot control system: preparing input data: generating the initial population ofa state quantity m based on an empirical data set and a state quantity domain; performing fast non-dominated sorting; selecting, crossing, and mutating state variables to generate a first sub-generation m1; evolving again to generate a second sub-generation m2 by using an elitism strategy, and merging the sub-generations and a parent generation for performing fast non-dominated sorting again; calculating the crowding degree and selecting suitable individuals to form a new parent generation, and performing multiple iteration to obtain an optimal solution set of objective functions; and selecting the weight of each objective function, and determining the optimal solution of the objective functions. The method converts the multi-input multi-output logic inference problem into an error optimization problem, obtains the optimal fuzzy solution, and enables a fuzzy controller to quickly and accurately approach the objective functions.

Description

technical field [0001] The invention belongs to the field of fuzzy control, in particular to a robot control system optimization method based on NSGA-II fuzzy logic reasoning. Background technique [0002] Mobile robots are increasingly used in automated factories, power system inspections, and expeditions. As the complexity of tasks increases, the control objects tend to be complex, high-order nonlinear, and highly coupled. People's ability to obtain accurate knowledge is relatively low. Reduced, the possibility of using traditional precision control is also reduced. At present, the commonly used intelligent control algorithms include expert control, fuzzy logic, genetic algorithm and neural network. Among them, the Chinese patent "Construction Method of Fuzzy Classification Model Based on NSGA-II Optimization and Improvement" (application date 2013-04-03; application number [0003] CN201310117731.X; public date 2013-07-10; patent number CN103198357A) discloses a fuzzy c...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602Y02P90/02
Inventor 张鹏超李海婷
Owner SHAANXI SCI TECH UNIV
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