Designing PID controllers for a five-bar linkage robot manipulator using BBO algorithm

Kankashvar, Mohammad Rasoul; Kharrati, Hamed; Asl, Reza Mohammadi; Sadeghiani, Ali Barzegari

doi:10.1109/icmsao.2015.7152247

Cited by 9 publications

(2 citation statements)

References 16 publications

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“…Evolutionary algorithms, as one of the strongest representations of artificial intelligence, have been employed to find suitable solutions for different engineering problems [30]. For instance, a so-called Biogeography-based optimization (BBO) algorithm has been combined with a traditional PID controller to control a five-link robotic manipulator [31]. The algorithm is used to optimize the controller by tuning its parameters.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy-Based Parameter Optimization of Adaptive Unscented Kalman Filter: Methodology and Experimental Validation

Asl

Palm

et al. 2020

IEEE Access

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This study introduces a fuzzy based optimal state estimation approach. The new method is based on two principles: Adaptive Unscented Kalman filter, and Fuzzy Adaptive Grasshopper Optimization Algorithm. The approach is designed for the optimization of an adaptive Unscented Kalman Filter. To find the optimal parameters for the filter, a fuzzy based evolutionary algorithm, named Fuzzy Adaptive Grasshopper Optimization Algorithm, is developed where its efficiency is verified by application to different benchmark functions. The proposed optimal adaptive unscented Kalman filter is applied to two nonlinear systems: a robotic manipulator, and a servo-hydraulic system. Different simulation tests are conducted to verify the performance of the filter. The results of simulations are presented and compared with a previous version of the unscented Kalman filter. For a realistic test, the proposed filter is applied on the practical servo-hydraulic system. Practical results are discussed, and presented results approve the capability of the presented method for practical applications. INDEX TERMS Adaptive unscented Kalman filter, state estimation, fuzzy adaptive grasshopper optimization algorithm (FAGOA), time variant noise, robot manipulator.

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Section: Introductionmentioning

confidence: 99%

Fuzzy-Based Parameter Optimization of Adaptive Unscented Kalman Filter: Methodology and Experimental Validation

Asl

Palm

et al. 2020

IEEE Access

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“…A modified version fruit fly optimization algorithm (MFOA) is also used to find the optimal PID parameters where nonlinear robot's dynamic is linearized and decoupled using a nonlinear feedback linearization control technique [31]. In the same context, a new modified biogeography-based optimization (BBO) algorithm is developed to tune PID parameters of a five bar robot [32]. Other interesting works have emerged thanks to PSO algorithm [33][34][35][36][37][38][39] such as the application of PSO algorithm in control chain of SCARA robot.…”

Section: Introductionmentioning

confidence: 99%

Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator

Loucif

Kechida

Sebbagh

2019

J Braz. Soc. Mech. Sci. Eng.

167

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In this work, we are interested to the PID control of nonlinear systems and more specially the control of a robot manipulator. The idea is to determine the optimal parameters (K p , K i and K d) of the controller using a novel algorithm of optimization called whale optimizer algorithm (WOA). To study the effectiveness of WOA-PID controller, its performance is compared with other controllers such as particle swarm optimization-PID (PSO-PID) and grey wolf optimizer-PID (GWO-PID). The model of robot manipulator and all controllers were tested using Simulink/MATLAB. Simulation results obtained clearly indicate the superiority of WOA-PID controller over the other controllers for trajectory tracking, better settling time, and ITAE errors.

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Optimal fractional order PID for a robotic manipulator using colliding bodies design

2017

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Designing PID controllers for a five-bar linkage robot manipulator using BBO algorithm

Cited by 9 publications

References 16 publications

Fuzzy-Based Parameter Optimization of Adaptive Unscented Kalman Filter: Methodology and Experimental Validation

Fuzzy-Based Parameter Optimization of Adaptive Unscented Kalman Filter: Methodology and Experimental Validation

Whale optimizer algorithm to tune PID controller for the trajectory tracking control of robot manipulator

Optimal fractional order PID for a robotic manipulator using colliding bodies design

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