Optimal control of hydraulically driven parallel robot platform based on firefly algorithm

Nedić, Novak; Stojanović, Vladimir; Djordjevic, Vladimir

doi:10.1007/s11071-015-2252-5

Cited by 80 publications

(22 citation statements)

References 29 publications

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“…Another such heuristic, the cuckoo search uses a heavy-tailed step length to explore the parameter space more efficiently [45]. The firefly algorithm models the patterns of light flashes used by fireflies to attract mates, and leads to very efficient exploration of this space as well [46]. These meta-heuristic methods can jointly estimate state information and optimize the parameters simultaneously, such as for controlling parallel robotic platforms [47].…”

Section: Related Workmentioning

confidence: 99%

Real-time filtering with sparse variations for head motion in magnetic resonance imaging

2019

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Estimating a time-varying signal, such as head motion from magnetic resonance imaging data, becomes particularly challenging in the face of other temporal dynamics such as functional activation. This paper describes a new Kalman filter-like framework that includes a sparse residual term in the measurement model. This additional term allows the extended Kalman filter to generate real-time motion estimates suitable for prospective motion correction when such dynamics occur. An iterative augmented Lagrangian algorithm similar to the alterating direction method of multipliers implements the update step for this Kalman filter. This paper evaluates the accuracy and convergence rate of this iterative method for small and large motion in terms of its sensitivity to parameter selection. The included experiment on a simulated functional magnetic resonance imaging acquisition demonstrates that the resulting method improves the maximum Youden's J index of the time series analysis by 2-3% versus retrospective motion correction, while the sensitivity index increases from 4.3 to 5.4 when combining prospective and retrospective correction.

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Section: Related Workmentioning

confidence: 99%

Real-time filtering with sparse variations for head motion in magnetic resonance imaging

2019

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“…The upper plate tracks the desired trajectory due to accurate control of actuator lengths and good coordination of all actuators. 2,6 Kinematics of Stewart platform…”

Section: Dynamic Relationship Within the Control Chambersmentioning

confidence: 99%

“…Thanks to the parallel linkage, more uniform distribution of loads and averaging of the positioning errors are accomplished. 2 Without it, the positioning errors would be accumulated.…”

Section: Introductionmentioning

confidence: 99%

A nature inspired optimal control of pneumatic-driven parallel robot platform

Pršić

Nedić

Stojanović

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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Woodworking industry is increasingly characterized by processing complex spatial forms with high accuracy and high speeds. The use of parallel robot platforms with six degrees of freedom gains more significance. Due to stricter requirements regarding energy consumption, easy maintenance and environmental safety, parallel platforms with pneumatic drives become more and more interesting. However, the high precision tracking control of such systems represents a serious challenge for designers. The reason is found in complex dynamics of the mechanical system and strong nonlinearity of the pneumatic system. This paper presents an optimal control design for a pneumatically driven parallel robot platform. The Proportional-Integral-Derivative (PID) algorithm with feedback linearization is used for control. The parameter search method is based on a firefly algorithm due to the empirical evidence of its superiority in solving various nonconvex problems. The simulation results show that the proposed optimal tuned cascade control is effective and efficient. These results clearly demonstrate that the proposed control techniques exhibit significant performance improvement over classical and widely used control techniques.

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“…The simulation results have indicated that CSA was superior to GA and PSO but less effective than BA in terms of capability of handling constraint conditions and optimal solutions. For the same problem with various types of proportional valves, and the combination of the cases of critical center, overlapped and underlapped valves, CSA has shown better efficiency than GA and PSO but also less performance than firefly algorithm (FA) [17]. In another study also about the optimal control of pneumatic-driven parallel robot platform [18], FA has also been successfully applied and resulted in promising improvement.…”

Section: Introductionmentioning

confidence: 99%

“…In another study also about the optimal control of pneumatic-driven parallel robot platform [18], FA has also been successfully applied and resulted in promising improvement. The studies in [16], [17] have indicated that CSA has not been completely perfect for all optimization problems and there should be improvements in CSA. For a problem of chaotic systems parameter estimation, an improved CSA has been proposed by the combination of both the orthogonal design and simulated annealing operation [19].…”

Section: Introductionmentioning

confidence: 99%

Improved Cuckoo Search Algorithm for Nonconvex Hydrothermal Scheduling with Volume Constraint

Nguyen¹,

Vo²,

Deveikis³

et al. 2017

ElAEE

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This paper presents an improved cuckoo search algorithm (ICSA) for solving the short-term hydrothermal scheduling (ST-HTS) problem. In the proposed ICSA, the initial eggs are first classified into two groups including top group and abandoned group and each egg in the two groups is then newly generated via Lévy flights. The two new egg groups will be integrated into only one group before ranking and evaluating to choose the best egg, which will be used to generate new eggs via the action of discovery of alien eggs in the host bird's nest. Moreover, the fraction of the alien eggs to be abandoned will be adaptive at each iteration instead of a fixed value during the search process like the conventional Cuckoo Search Algorithm (CSA). The performance of the proposed ICSA has been tested on two different systems and the obtained results have been compared to those from many methods including CSA, modified CSA and other methods in the literature in terms of solution quality. The result comparison has revealed that the proposed ICSA is very efficient for solving the ST-HTS with reservoir storage constraints. Index Terms-Improved Cuckoo search algorithm, shortterm hydrothermal scheduling, reservoir volume constraint.

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Optimal control of hydraulically driven parallel robot platform based on firefly algorithm

Cited by 80 publications

References 29 publications

Real-time filtering with sparse variations for head motion in magnetic resonance imaging

Real-time filtering with sparse variations for head motion in magnetic resonance imaging

A nature inspired optimal control of pneumatic-driven parallel robot platform

Improved Cuckoo Search Algorithm for Nonconvex Hydrothermal Scheduling with Volume Constraint

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