Observer-based differential evolution constrained control for safe reference tracking in robots.

Big torque inputs in controls could increase energy consumption, and big estimated perturbations in observers could produce device damages. Therefore, it would be interesting to propose a constrained control for safe reference tracking and a constrained observer for safe perturbation estimation in robots. Furthermore, the best gains in controls produce a balance between safe reference tracking and save energy consumption.

Genetic high-gain controller to improve the position perturbation attenuation and compact high-gain controller to improve the velocity perturbation attenuation in inverted pendulums.

From the control theory, bigger observer and controller gains are utilized to improve the position perturbation attenuation, while smaller observer and controller gains are utilized to improve the velocity perturbation attenuation. Therefore, it would be interesting to suggest optimizers to find the best observer and controller gains to improve the position or velocity perturbation attenuation. In this investigation, a high-gain controller is suggested to obtain the perturbation attenuation, a genetic high-gain controller is suggested to improve the position perturbation attenuation, and a compact high-gain controller is suggested to improve velocity perturbation attenuation in inverted pendulums.