A variable PID controller for robots using evolution strategy and neural network

Evolution strategy와 신경회로망에 의한 로봇의 가변 PID제어기

In this paper, divide total workspace of robot manipulator into several subspaces and construct PID controller ineach subspace. Using EvolutionSTrategy we optimize the gains of PID controller in each subspace. But the gains may have a large difference on the boundary of subspaces, which can cause bad oscillatory performance. So we use Aritificial Neural Network to have continuous gain curves htrough the entire subspaces. Simualtion results show that the proposed method is quite useful.