Paper Info
Title
Evolutionary design of fault-tolerant analog control for a piezoelectric pipe-crawling robot
Abstract
In this paper, a genetic algorithm (GA) is used to design fault-tolerant analog controllers for a piezoelectric micro-robot. First-order and second-order functions are developed to model the robot's piezoelectric actuators, and the GA is used to evolve closed-loop controllers for both models. The GA is first used to assist in traditional PID design and is later used to synthesize variable topology analog controllers. Through the use of a compact circuit representation, runtimes are minimized and controllers are synthesized with minimum population sizes and components. Fault-tolerance is built into the fitness function to facilitate the design of controllers robust to both actuator failure and component failure. The GA is successfully used to design synthetic controllers and to optimize a traditional PID design. This research shows the advantages of GA assisted design when applied to robot-control problems.
Year
DOI
Venue
2006
10.1145/1143997.1144133
GECCO
Keywords
Field
DocType
piezoelectric pipe-crawling robot,fault-tolerant analog controller,closed-loop controller,variable topology analog controller,traditional pid design,fitness function,component failure,piezoelectric micro-robot,actuator failure,piezoelectric actuators,compact circuit representation,evolutionary design,robot,genetic algorithm,population size,genetic algorithms,fault tolerant,first order,second order,robot control
Robot control,Population,Evolutionary robotics,PID controller,Computer science,Control theory,Fitness function,Evolvable hardware,Fault tolerance,Genetic algorithm
Conference
ISBN
Citations 
PageRank 
1-59593-186-4
6
0.51
References 
Authors
7
2
Name
Order
Citations
PageRank
Geoffrey A. Hollinger133427.61
David A. Gwaltney2232.68