基于改进差分进化算法的机械手轨迹控制

Manipulator Trajectory Control Based on Improved Differential Evolution Algorithm

为提高机械手系统运行稳定性与关节角跟踪精度,设计一种基于改进差分进化算法的能量最优轨迹控制方法,并以双关节机械手仿真验证。首先,假设参考轨迹为摆线,以机械手运行能量最低为适应度函数,采用独立PD控制法控制机械手运动并构造Lyapunov函数证明控制律的收敛性;其次,利用混沌映射改进差分进化算法初始种群产生策略及子代重建规则,设计自适应缩放因子与交叉因子,对越界个体采用对称映射法处理,以此提高算法寻求全局最优解能力;最后,运用样条插值法将最优离散轨迹生成连续运行轨迹。MATLAB仿真结果表明,所提算法收敛速度快,优化效果好,系统运行消耗能量少,鲁棒性强。

In order to improve the running stability of the manipulator system and the accuracy of joint angle tracking,an energy optimal trajectory controller method based on the improved differential evolution algorithm is designed and simulation verified by a manipulator with two joints.First of all,assuming that the reference trajectory is a cycloid,and taking the lowest operating energy of the manipulator as the fitness function,the independent PD control method is used to control the manipulator movement and the Lyapunov function is constructed to prove the convergence of the control law.Then,the chaotic mapping is used to improve the initial population generation strategy and offspring reconstruction rules of the differential evolution algorithm,and the adaptive scaling factor and crossover factor are designed,and the symmetrical mapping method is used for the out-of-bounds individuals to improve the algorithm's ability to find the global optimal solution.Finally,the spline interpolation method is used to generate a continuous moving trajectory from the optimal discrete trajectory.The results of MATLAB simulation show that the proposed algorithm has fast convergence speed,good optimization effect,low energy consumption,and strong robustness.