71,039 research outputs found
Automatic LQR Tuning Based on Gaussian Process Global Optimization
This paper proposes an automatic controller tuning framework based on linear
optimal control combined with Bayesian optimization. With this framework, an
initial set of controller gains is automatically improved according to a
pre-defined performance objective evaluated from experimental data. The
underlying Bayesian optimization algorithm is Entropy Search, which represents
the latent objective as a Gaussian process and constructs an explicit belief
over the location of the objective minimum. This is used to maximize the
information gain from each experimental evaluation. Thus, this framework shall
yield improved controllers with fewer evaluations compared to alternative
approaches. A seven-degree-of-freedom robot arm balancing an inverted pole is
used as the experimental demonstrator. Results of a two- and four-dimensional
tuning problems highlight the method's potential for automatic controller
tuning on robotic platforms.Comment: 8 pages, 5 figures, to appear in IEEE 2016 International Conference
on Robotics and Automation. Video demonstration of the experiments available
at https://am.is.tuebingen.mpg.de/publications/marco_icra_201
Chaotic multi-objective optimization based design of fractional order PI{\lambda}D{\mu} controller in AVR system
In this paper, a fractional order (FO) PI{\lambda}D\mu controller is designed
to take care of various contradictory objective functions for an Automatic
Voltage Regulator (AVR) system. An improved evolutionary Non-dominated Sorting
Genetic Algorithm II (NSGA II), which is augmented with a chaotic map for
greater effectiveness, is used for the multi-objective optimization problem.
The Pareto fronts showing the trade-off between different design criteria are
obtained for the PI{\lambda}D\mu and PID controller. A comparative analysis is
done with respect to the standard PID controller to demonstrate the merits and
demerits of the fractional order PI{\lambda}D\mu controller.Comment: 30 pages, 14 figure
Self-Adaptive Surrogate-Assisted Covariance Matrix Adaptation Evolution Strategy
This paper presents a novel mechanism to adapt surrogate-assisted
population-based algorithms. This mechanism is applied to ACM-ES, a recently
proposed surrogate-assisted variant of CMA-ES. The resulting algorithm,
saACM-ES, adjusts online the lifelength of the current surrogate model (the
number of CMA-ES generations before learning a new surrogate) and the surrogate
hyper-parameters. Both heuristics significantly improve the quality of the
surrogate model, yielding a significant speed-up of saACM-ES compared to the
ACM-ES and CMA-ES baselines. The empirical validation of saACM-ES on the
BBOB-2012 noiseless testbed demonstrates the efficiency and the scalability
w.r.t the problem dimension and the population size of the proposed approach,
that reaches new best results on some of the benchmark problems.Comment: Genetic and Evolutionary Computation Conference (GECCO 2012) (2012
- …