A problem of identification control synthesis for mobile robot by the network operator method

摘要

A problem of identification control synthesis is considered. This problem arises when it is necessary to perform a control system synthesis for an object which mathematical model is unknown. To solve the identification control synthesis problem, we use a numerical method of the network operator. The method allows finding both the structure and the parameters of mathematical expressions in the form of integer matrices using evolutionary algorithms for mathematical model identification and for control synthesis of identified model. Experimental data for identification were obtained from mobile robot. Then an automated control synthesis was performed for identified model. To prove the computational results the synthesized control was implemented in real mobile robot. The results of application of network operator method to identification control synthesis for mobile robot are presented.