IMPLEMENTATION OF EVOLUTIONARY ACTIVE FORCE CONTROL IN A 5-LINK BIPED ROBOT

摘要

In this paper, the application of Active Force Control (AFC) incorporated with a conventional Proportional-Derivative (PD) controller to a five-link biped robot has been studied and simulated. The efficacy and robustness of the AFC strategy in suppressing external disturbances was examined on a model using Crude Approximation (CA) method. However, the task of tuning the PD controller parameters and the inertia matrix coefficient is tedious and time-consuming. Thus, an evolutionary strategy - Differential Evolution (DE) has been proposed in order to tune automatically the parameter gains in a systematic approach. The effectiveness of the proposed method is investigated, and it is found that the system is robust and stable even under influence of disturbances.