A HYBRIDIZED NEURO-GENETIC SOLUTION FOR CONTROLLING INDUSTRIAL R-3 WORKSPACE

作者：Irigoyen E^*; Larrea M; Valera J; Gomez V; Artaza F

来源：Neural Network World, 2010, 20(7): 811-824.

• Hybrid neuro-genetic solution
• optimal trajectory generation
• multi-objective genetic algorithm
• nonlinear neural control
• adaptive predictive control

This work presents a hybridized neuro-genetic control solution for R-3 workspace application. The solution is based on a multi-objective genetic algorithm reference generator and an adaptive predictive neural network strategy. The trajectory calculation between two points in an R-3 workspace is a complex optimization problem considering the fact that there are multiple objectives, restrictions and constraint functions which can play an important role in the problem and be in competition. We solve this problem using genetic algorithms, in a multi objective optimization strategy. Subsequently, we enhance a training algorithm in order to achieve the best adaptation of the neural network parameters in the controller which is responsible for generating the control action for a nonlinear system. As an application of the proposed hybridized control scheme, a crane tracking control is presented.

• 出版日期2010