Temat: foraging - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Evolutionary computation approaches to tip position controller design for a two-link flexible manipulator
Autorzy:: Subudhi, B.
Ranasingh, S.
Swain, A. K.
Powiązania:: https://bibliotekanauki.pl/articles/229971.pdf
Data publikacji:: 2011
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: flexible manipulator
genetic algorithm
bacteria foraging
fitness function
Opis:: Controlling multi-link flexible robots is very difficult compared rigid ones due to inter-link coupling, nonlinear dynamics, distributed link flexure and under-actuation. Hence, while designing controllers for such systems the controllers should be equipped with optimal gain parameters. Evolutionary Computing (EC) approaches such as Genetic Algorithm (GA), Bacteria Foraging Optimization (BFO) are popular in achieving global parameter optimizations. In this paper we exploit these EC techniques in achieving optimal PD controller for controlling the tip position of a two-link flexible robot. Performance analysis of the EC tuned PD controllers applied to a two-link flexible robot system has been discussed with number of simulation results.
Źródło:: Archives of Control Sciences; 2011, 21, 3; 269-285
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Evolutionary computing approaches to optimum design of fuzzy logic controller for a flexible robot system
Autorzy:: Subudhi, B.
Ranasingh, S.
Powiązania:: https://bibliotekanauki.pl/articles/230107.pdf
Data publikacji:: 2013
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: flexible manipulator
fuzzy logic
genetic algorithm
bacteria foraging optimization
tip position tracking
Opis:: This paper presents the design of a Fuzzy Logic Controller (FLC) whose parameters are optimized by using Genetic Algorithm (GA) and Bacteria Foraging Optimization (BFO) for tip position control of a single link flexible manipulator. The proposed FLC is designed by minimizing the fitness function, which is defined as a function of tip position error, through GA and BFO optimization algorithms achieving perfect tip position tracking of the single link flexible manipulator. Then the tip position responses obtained by using both the above controllers are compared to suggest the best controller for the tip position tracking.
Źródło:: Archives of Control Sciences; 2013, 23, 4; 395-412
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

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