Differential Evolution Algorithms Comparison Used to Tune a Visual Control Law

Abstract

This paper presents the results of the comparative study of differential evolution algorithms used as an alternative for tuning the gains of a PD+ type visual control structure, since tuning PD or PID type control structures is not trivial. We made the quantitative comparison using the performance index ( $\mathcal {L}_{2}$ -norm) and we applied the algorithm of best performance in a case of study (detection and cutting of leaves using a Cartesian robot). We also present the stability analysis according to Lyapunov theory and experimental results.

Keywords

• Differential evolution algorithms
• PD+ type control structure
• performance index
• tuning control structures
• centroid
• visual-servoing