Differential Evolution Algorithms Comparison Used to Tune a Visual Control Law
This paper presents the results of the comparative study of differential evolution algorithms used as an alternative for tuning the gains of a PD+ type visual control structure, since tuning PD or PID type control structures is not trivial. We made the quantitative comparison using the pe...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9760373/ |
| Summary: | This paper presents the results of the comparative study of differential evolution algorithms used as an alternative for tuning the gains of a PD+ type visual control structure, since tuning PD or PID type control structures is not trivial. We made the quantitative comparison using the performance index (<inline-formula> <tex-math notation="LaTeX">$\mathcal {L}_{2}$ </tex-math></inline-formula>-norm) and we applied the algorithm of best performance in a case of study (detection and cutting of leaves using a Cartesian robot). We also present the stability analysis according to Lyapunov theory and experimental results. |
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| ISSN: | 2169-3536 |