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Pareto design of an adaptive robust hybrid of PID and sliding control for a biped robot via genetic algorithm optimization

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Abstract

In case of helping elder people and doing complicated jobs, biped robots have greater capabilities in comparison to other mobile robots, such as wheeled robots. However, owing to their extremely nonlinear dynamics and natural instability, their motion planning and control become a more challenging and crucial task. Thus, this paper tends to present an adaptive robust hybrid of PID and sliding control optimized by multi-objective genetic algorithm optimization to control a biped robot walking in the lateral plane on slope. More precisely, proportional, integral, and derivative (PID) control is a reliable and stable controller and sliding mode control (SMC) is a robust controller having an appropriate tracking function. To utilize these unique features of each controller, optimal SMC is employed as a supervisory controller to enhance the performance of optimal adaptive PID control and provide sufficient control input. An adaptation mechanism is used to update the proportional, integral, and derivative gains of PID control online. To eliminate the tedious trial-and-error process of determining the control coefficients, multi-objective genetic algorithm optimization is utilized to design and choose the control parameters by an optimal approach. Three points of the Pareto front of the genetic algorithm optimization are selected to design the controller. While the dynamic equations of the biped robot walking in the lateral plane are immensely nonlinear, the control method can operate effectively and the results demonstrate the proper performance of the controller in two aspects of low tracking error and optimal control input.

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Acknowledgments

The authors would like to thank the anonymous reviewers for their valuable suggestions that enhance the technical and scientific quality of this paper.

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  1. Department of Mechanical Engineering, University of Texas at San Antonio, San Antonio, TX, 78249, USA

    M. Taherkhorsandi & K. K. Castillo-Villar

  2. Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran

    M. J. Mahmoodabadi & M. Talebipour

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  1. M. Taherkhorsandi
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Taherkhorsandi, M., Mahmoodabadi, M.J., Talebipour, M. et al. Pareto design of an adaptive robust hybrid of PID and sliding control for a biped robot via genetic algorithm optimization. Nonlinear Dyn 79, 251–263 (2015). https://doi.org/10.1007/s11071-014-1661-1

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