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GECCO
2006
Springer

Evolutionary design of fault-tolerant analog control for a piezoelectric pipe-crawling robot

10 years 2 months ago
Evolutionary design of fault-tolerant analog control for a piezoelectric pipe-crawling robot
In this paper, a genetic algorithm (GA) is used to design faulttolerant analog controllers for a piezoelectric micro-robot. Firstorder 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. Categories and Subject Descriptors B.8.1 [Hardware]: Reliability, Testing, a...
Geoffrey A. Hollinger, David A. Gwaltney
Added 23 Aug 2010
Updated 23 Aug 2010
Type Conference
Year 2006
Where GECCO
Authors Geoffrey A. Hollinger, David A. Gwaltney
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