Taekwondo Trajectory Tracking Based on Multitarget Detection Algorithm

Abstract

In order to further improve the effect of fuzzy PID controller applied to joint robot trajectory tracking control, a Taekwondo trajectory tracking method based on multitarget detection algorithm is proposed in this study. Firstly, a fuzzy PID controller for trajectory tracking of joint robot is designed. Secondly, considering the two optimization objectives of controller output torque and trajectory tracking control deviation, an improved multiobjective PSO algorithm is designed to optimize the membership function and fuzzy rules of fuzzy PID controller. Finally, the multiobjective PSO algorithm and the improved multiobjective PSO algorithm are used to optimize the trajectory tracking fuzzy PID controller. The vector sets of the two optimization objectives are obtained, and the optimization results are compared and analyzed. The simulation results show that the simulation step length is t = 0.01 s, and the total simulation time is 10 s. Using the controller, the simulation values and output torque values of each joint angle at each time can be obtained, which are used to calculate the two objective function values in the optimization algorithm. According to the process, the optimization algorithm parameters are set, and the control simulation system designed above is run to complete the improved multiobjective PSO optimization of the trajectory tracking fuzzy PID controller of the joint robot. Conclusion. The improved multiobjective PSO algorithm has better nondominated solution set, which verifies the effectiveness and superiority of the algorithm to optimize the robot trajectory tracking fuzzy PID controller.