Fuzzy logic based controller for a single-link flexible manipulator using modified invasive weed optimization

Kasdirin, Hyreil Anuar; Assemgul, M.; Tokhi, M. O.

doi:10.1109/eais.2015.7368800

Cited by 2 publications

(2 citation statements)

References 12 publications

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“…However, the results reveal that an improvement is required and also obtaining the optimal parameters of FLC is a constraint. 14 There are also many FLCs have been used for the aim of reference tracking and vibration attenuation of FLMs such as a FLC optimized by modified invasive weed optimization technique, 48 and a FLC was used as a compensator with a nonlinear robust controller. 49 Despite, the FLC is effective and robust for position tracking, vibration suppression of FLMs and has the capability to deal with uncertain disturbances and inaccurate systems, there is still an existing issue which has been addressed by several researchers which is the difficulty of design a FLC for a complicated system with a large number of inputs.…”

Section: Fuzzy Logic Controllermentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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Section: Fuzzy Logic Controllermentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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“…One of the ways to improve the IWO is by changing the standard deviation (SD) mechanism of seeds distribution. Several attempts to improve the SD mechanism have been proposed by researchers such as using chaotic mechanism [2] and modified adaptive SD [3]- [6]. A modified approach to SD measurement of seeds distribution in each generation is developed to improve performance of the original algorithm.…”

Section: Introductionmentioning

confidence: 99%

Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton

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Kasdirin

Ali

et al. 2016

2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR)

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This paper describes a new modified versions of invasive weed optimization algorithm with exponential seedsspread factor. The modified invasive weed optimization algorithm (MIWO) is employed to optimize the fuzzy input-output scaling factors of lower limb exoskeleton. A fuzzy logic control (FLC) system with the (MIWO) are evolved for reference tracking control. The exoskeleton is developed to enhance and upgrade the lower limb capability and augment the torque of knee and hip of elderly people during the walking cycle. Invasive weed optimization is a bio-inspired search algorithm that mimics how weeds colonize a certain area in nature. The algorithm is modified by applying local knowledge during distribution of seeds that depends on their cost function value in each generation to narrow the accuracy and improve the local search ability. The obtained results from the modified invasive weed optimization algorithm are compared with heuristic gain values to improve the performance of the exoskeleton system. The Visual Nastran 4D software is used to develop a simulation model of the humanoid and an exoskeleton for testing and verification of the developed control mechanism. Simulation results demonstrating the performance of the adopted approach are presented and discussed.

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Fuzzy logic based controller for a single-link flexible manipulator using modified invasive weed optimization

Cited by 2 publications

References 12 publications

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton

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