Bacterial Foraging Optimized Hybrid Fuzzy Precompensated PD Control of Two Link Rigid-Flexible Manipulator

Abstract

Light-weight flexible arms will most likely constitute the next generation robots due to their large payload carrying capacities at high speeds and less power demand. Control problem of robots with flexible members is more complex compared to rigid robots due to vibrations during the motion. This paper presents the social foraging behavior of Escherichia coli bacteria to optimize hybrid Fuzzy Precompensated Proportional -Derivative (PD) controller in trajectory control of two link rigid-flexible manipulator. Numerical simulation using the dynamic model of the two link rigid-flexible manipulator shows the effectiveness of the approach in trajectory tracking problems and the use of fuzzy precompensation has superior performance in terms of improvement in transient and steady state response, robustness to variations in loading conditions and ease to use in practice. Comparative evaluation with respect to genetic algorithm based optimization is presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using hybrid Fuzzy Precompensated PD controller with bacterial foraging based optimization.

Optimal trajectory control for a two‐link rigid‐flexible manipulator with ODE‐PDE model

“…Theorem 1. The system described by Equations (7)- (13), under Assumption 1, with proposed control laws, Equations (22)- (24), has asymptotic stability.…”

“…where E 1 contains the kinetic energy and potential energy and E 2 is related to tracking errors. Using Equations (7)- (13), taking the derivative of Equation (26) with respect to time (see the Appendix), we obtaiṅ…”

“…There are relatively few studies focusing on controller design for two-link rigid-flexible manipulator. 13 To improve the performance of industrial robots, trajectory optimization for rigid manipulators has commanded the attention of researchers and industry workers in the recent years. [14][15][16] The trajectory optimization of a nonholonomic mobile manipulator, in a dynamic environment pursuing a moving target, is presented in the work of Korayem et al 17 A novel trajectory planning method is proposed by Tian and Collins 18 for a robot manipulator whose workspace includes several obstacles.…”

Characterization of Fashion Themes Using Fuzzy Techniques for Designing New Human Centered Products

“…However, in practice, these methods are not efficient in most of industrial applications, in which the quantity of learning data is often limited due to the restrictions of experimental cost and time. In this paper, we propose a new method to model the relationship between basic sensory criteria and fashion themes using fuzzy modeling techniques 12,13,14,15 and aggregation techniques. 16,17 It permits designers to find the most relevant basic sensory criteria at different levels (fabric hand, style, and color, etc.)…”