Abstract
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 p ), integral gain K i , and the derivative gain K v are studied. It is showed that the values of the control parameters (K p , K i , K 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.
This research was supported by Doctor Scientific Research Foundation of Northeast Dianli University, BSJXM-200702.
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Gong, J., Jia, R. (2008). Global Optimization of Robot Control System Via Generalized Geometric Programming. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_47
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DOI: https://doi.org/10.1007/978-3-540-88513-9_47
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