Motion control with parameter optimization by genetic algorithm

Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

    Research output: Contribution to journalArticle

    2 Citations (Scopus)

    Abstract

    Walking is a fundamental action for everyday life. In order to support people with walking disabilities to perform walking rehabilitation, an omni-directional walker, which is able to realize diverse motion groups, has been developed. In a previous study, to improve the path tracking accuracy, an adaptive control algorithm was developed to deal with the center of gravity shift and the load changes caused by the users. However, the control parameters in the nonlinear adaptive control law were manually adjusted. In this paper, a genetic algorithm for automatic adjustment of the adaptive control parameters is proposed. Simulation is executed. The simulation results verify the effectiveness of the parameter optimization using genetic algorithm.

    Original languageEnglish
    Pages (from-to)2779-2784
    Number of pages6
    JournalICIC Express Letters
    Volume5
    Issue number8 B
    Publication statusPublished - 2011 Aug

    Keywords

    • Genetic algorithm
    • Omni-directional walker
    • Parameter optimization

    ASJC Scopus subject areas

    • Computer Science(all)
    • Control and Systems Engineering

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  • Cite this

    Tan, R., Wang, S., Jiang, Y., Ishida, K., & Fujie, M. G. (2011). Motion control with parameter optimization by genetic algorithm. ICIC Express Letters, 5(8 B), 2779-2784.