Optimal control research on a manipulator’s combined feedback device by the variational method genetic algorithm radial basis function method

• Main Authors: Song Wang, Zhaoyang Wang, Yanzhu Hu
• Format: Article
• Language: English
• Published: SAGE Publishing 2019-06-01
• Series: International Journal of Advanced Robotic Systems
• Online Access: https://doi.org/10.1177/1729881419855824

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.