IJSER Home >> Journal >> IJSER
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.  
Author(s)
Mohammad Pourmahmood Aghababa
KEYWORDS
Shuffled frog leaping algorithm, Optimization approach, Convergence rate, PID controller, Five bar linkage manipulator robot
ABSTRACT
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.
References
[1] M.M. Eusuf, KE. Lansey, ―Optimization of water distribution network design using the shuffled frog leaping algorithm.‖ J Water Resour Plan Manage, Vol 129, no.3, pp. 210–225, 2003.

[2] S.Y. Liong, M.d. Atiquzzaman., ―Optimal design of water distribution network using shuffled complex evolution.‖ J Inst Eng, Singapore, vol. 44, no. 1, pp. 93–107, 2004.

[3] J.G. Ziegler and N.B. Nichols, ―Optimum settlings for automatic controllers,‖ Trans. On ASME., vol. 64, pp. 759-768, 1942.

[4] Z.L. Gaing, ―A Particle Swarm Optimization Approach for Optimum Design of PID controller in AVR system,‖ IEEE Transactions on Energy Conversion, vol. 9, no. 2, pp. 384-391, 2003.

[5] Z.Y. Zhao, M. Tomizuka, and S. Isaka, ―Fuzzy gain scheduling of PID controllers,‖ IEEE Trans. System, Man, and Cybernetics, vol. 23, no. 5, pp. 1392-1398, 1993.

[6] A. Visioli, ―Fuzzy logic based set-point weight tuning of PID controllers,‖ IEEE Trans. System, Man, and Cybernetics – Part A: System and Humans, vol. 29, no. 6, pp. 587-592, 1999.

[7] S.Y. Chu, C.C. Teng, ―Tuning of PID controllers based on gain and phase margin specifications using fuzzy neural network,‖ Fuzzy Sets and Systems, vol. 101, no. 1, pp. 21-30, 1999.

[8] G. Zhou and J.D. Birdwell, ―Fuzzy logic-based PID autotuner design using simulated annealing,‖ Proceedings of the IEEE/IFAC Joint Symposium on Computer-Aided Control System Design, pp. 67 – 72, 1994.

[9] D.P. Kwok and F. Sheng, ―Genetic algorithm and simulated annealing for optimal robot arm PID control,‖ Proc IEEE Conf. Evolutionary IJSER © 2011 http://www .ijser.org Computation, pp. 707–713, 1994.

[10] R.A. Krohling and J.P. Rey, ―Design of optimal disturbance rejection PID controllers using genetic algorithm,‖ IEEE Trans. Evol. Comput., vol. 5, pp. 78–82, 2001.

[11] P. Wang and D.P. Kwok, ―Optimal design of PID process controllers based on genetic algorithms,‖ Control Engineer Practice, vol. 2, no. 4, pp.641-648, 1994.

[12] D.H. Kim, ―Tuning of a PID controller using a artificial immune net-work model and local fuzzy set,‖ Proceedings of the Joint 9th IFSA World Congress and 20th NAFIPS International Conference, vol. 5, pp. 2698 – 2703, 2001.

[13] Y.T. Hsiao, C.L. Chuang, and C.C. Chien, ―Ant colony optimization for designing of PID controllers,‖ Proceedings of the 2004 IEEE Confe-rence on Control Applications/ International Symposium on Intelligent Control/International Symposium on Computer Aided Control Systems De-sign, Taipei, Taiwan, 2004.

[14] J.P. Huissoon and D. Wang, ―On the design of a five-bar-linkage manipulator‖ Robotica, vol. 9, pp 441-446, 1991.

[15] D. Wang and M. Vidyasagar, ―Modeling of a five-bar-Linkage Mani-pulator with One Flexible Link,‖ in Proc. IEEE Int. Symp, subject, Tur-key, pp. 21–26, 1988.

[16] Asada, Haruhiko, Youcef-Toumi, and Kamal, ―Analysis and Design of a Direct-Drive Arm with a Five-Bar-Link Parallel Drive Mechan-ism,‖ Journal of Dynamic Systems, Measurement, and Control, 1984.

[17] D.Wang, J.P.Huissoon and K.Luscott, ―A teaching robot for demon-strating robot control strategies,‖ manufacturing research corporation of Ontario, 1993.

Untitled Page