Hybrid optimal control of robot motor based on improved genetic algorithm and fuzzy logic

摘要

Due to serious nonlinearities, uncertainties, coupling effect and external perturbations in the robot control, it is particularly difficult for conventional PID controller to control the accurate motion of robot joint. In order to improve the performance of the controller, a hybrid PID controller is proposed to combine fuzzy logic control and genetic algorithm (GA) with a conventional PID controller. The fuzzy controller with variable universe and the conventional PID controller in hybrid PID controller are responsible for dealing with non-linear and linear parts of the control system, respectively. The improved genetic algorithm is introduced to optimize the fuzzy controller structure and common parameters of PID controller to form the GA-FPID controller and improve the performance of the controller in this paper. In order to test the effectiveness of the proposed controller, the mathematical model of robot joint motor is established in the simulation and comparative analyses about ZN-PID, GA-PID and GA-FPID controllers are presented.