TY - JOUR
T1 - Observer-based differential evolution constrained control for safe reference tracking in robots
AU - de Jesús Rubio, José
AU - Orozco, Eduardo
AU - Cordova, Daniel Andres
AU - Hernandez, Mario Alberto
AU - Rosas, Francisco Javier
AU - Pacheco, Jaime
N1 - Publisher Copyright:
© 2024 Elsevier Ltd
PY - 2024/7
Y1 - 2024/7
N2 - Big torque inputs in controls could increase energy consumption, and big estimated perturbations in observers could produce device damages. Therefore, it would be interesting to propose a constrained control for safe reference tracking and a constrained observer for safe perturbation estimation in robots. Furthermore, the best gains in controls produce a balance between safe reference tracking and save energy consumption. Therefore, it would be interesting to propose a method to find the best gains. In this paper, an observer-based differential evolution constrained control is proposed for safe reference tracking in robots. The contributions are described as follows: (1) a constrained observer is proposed for safe perturbation estimation in robots, (2) a constrained control is proposed for safe reference tracking in robots, (3) a differential evolution optimizer is used to find the best gains in an observer-based constrained control, (4) the robust stability in an observer-based constrained control is assured, (5) the pseudo-code of an observer-based differential evolution constrained control is detailed. The proposed observer-based differential evolution constrained control is applied for safe reference tracking in two robots.
AB - Big torque inputs in controls could increase energy consumption, and big estimated perturbations in observers could produce device damages. Therefore, it would be interesting to propose a constrained control for safe reference tracking and a constrained observer for safe perturbation estimation in robots. Furthermore, the best gains in controls produce a balance between safe reference tracking and save energy consumption. Therefore, it would be interesting to propose a method to find the best gains. In this paper, an observer-based differential evolution constrained control is proposed for safe reference tracking in robots. The contributions are described as follows: (1) a constrained observer is proposed for safe perturbation estimation in robots, (2) a constrained control is proposed for safe reference tracking in robots, (3) a differential evolution optimizer is used to find the best gains in an observer-based constrained control, (4) the robust stability in an observer-based constrained control is assured, (5) the pseudo-code of an observer-based differential evolution constrained control is detailed. The proposed observer-based differential evolution constrained control is applied for safe reference tracking in two robots.
KW - Best gains
KW - Constrained control
KW - Constrained observer
KW - Differential evolution optimizer
KW - Safe perturbation estimation
KW - Safe reference tracking
UR - http://www.scopus.com/inward/record.url?scp=85189314314&partnerID=8YFLogxK
U2 - 10.1016/j.neunet.2024.106273
DO - 10.1016/j.neunet.2024.106273
M3 - Artículo
C2 - 38569459
AN - SCOPUS:85189314314
SN - 0893-6080
VL - 175
JO - Neural Networks
JF - Neural Networks
M1 - 106273
ER -
