One novel C60 derivative F1 and its corresponding C70 derivative F2 were designed and synthesized by the [4+2] cyclic addition reaction. The optical, electrochemical and photovoltaic properties of them were carefully characterized. The LUMO energy levels of them are about 0.06 eV higher than that of PCBM. The power conversion efficiency of the polymer solar cells based on P3HT as donor and F1 and F2 as acceptors, reached 3.63% and 3.35%, respectively. When using PBDTTT-C to replace P3HT as a donor, the performance of F1 and F2 based devices reached 3.00% and 5.07%, respectively.
Purpose
This paper aims to improve the adaptability and control performance of the controller, a proposed seeker optimization algorithm (SOA) is introduced to optimize the controller parameters of a robot manipulator.
Design/methodology/approach
In this paper, a traditional proportional integral derivative (PID) controller and a fuzzy logic controller are integrated to form a fuzzy PID (FPID) controller. The SOA, as a novel algorithm, is used for optimizing the controller parameters offline. There is a performance comparison in terms of FPID optimization about the SOA, the genetic algorithm (GA), particle swarm optimization (PSO) and ant colony optimization (ACO). The DC motor model and the experimental platform are used to test the performance of the optimized controller.
Findings
Compared with GA, PSO and ACO, this novel optimization algorithm can enhance the control accuracy of the system. The optimized parameters ensure a system with faster response speed and better robustness.
Originality/value
A simplified FPID controller structure is constructed and a novel SOA method for FPID controller is presented. In this paper, the SOA is applied on the controller of 5-DOF manipulator, and the validation of controllers is tested by experiments.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.