Global Optimization of Robot Control System Via Generalized Geometric Programming

摘要

A model of the robot control system can be described as a generalized geometric programming problem. The objection is to minimize the error subject to stability and torque constraints. A global optimization approach of generalized geometric programming has been used for solving the model. The relationships of sampling time versus the proportional gain (K{sub}p), integral gain K{sub}i, and the derivative gain K{sub}v are studied. It is showed that the values of the control parameters (K{sub}p, K{sub}i, K{sub}v) decrease as the sampling time increases before becoming flat. It is also concluded that generalized geometric programming is an efficient mathematical technique for the nonlinear control of robotic system.