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International Journal of Scientific and Engineering Research
ISSN Online 2229-5518
ISSN Print: 2229-5518 11    
Website: http://www.ijser.org
scirp IJSER >> Volume 2, Issue 11, November 2011
Application of Modified Shuffled Frog Leaping Algorithm for Robot Optimal Controller Design
Full Text(PDF, 3000)  PP.  
Mohammad Pourmahmood Aghababa
Shuffled frog leaping algorithm, Optimization approach, Convergence rate, PID controller, Five bar linkage manipulator robot
In this paper, a modified shuffled frog leaping (MSFL) algorithm is proposed to speed up the convergence of the standard shuffled frog leaping (SFL) method. The MSFL approach is based on an adaptive accelerated position changing of frogs. This modification causes a fast convergence rate and consequently achieving a rapid adaptive algorithm. The proposed method is used to design the optimal controller parameters for a five bar linkage manipulator robot. Simulation results have verified the effectiveness and robustness of the proposed method in practical issues. The features and the advantages of MSFL algorithm, such as escaping from local optima traps, global optimization, good robustness, simple mechanism and fast convergence, would make MSFL method as a promising optimization approach.
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