Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm
DOI:
https://doi.org/10.1515/ecce-2017-0008Keywords:
Artificial intelligence, Control systems, Evolutionary computation, Robotic manipulators, Trajectory optimizationAbstract
This study presents a well-developed optimization methodology based on the dynamic inertia weight Artificial Bee Colony algorithm (ABC) to design an optimal PID controller for a robotic arm manipulator. The dynamical analysis of robotic arm manipulators investigates a coupling relation between the joint torques applied by the actuators and the position and acceleration of the robot arm. An optimal PID control law is obtained from the proposed (ABC) algorithm and applied to the robotic system. The designed controller optimizes the trajectory of the robot’s end effector for a time-variant input and makes the robot robust in the presence of external disturbance.References
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P. V. Savsani and R. L. Jhala, “Optimal Motion Planning For a Robot Arm by Using Artificial Bee Colony (ABC) Algorithm,” International Journal of Modern Engineering Research (IJMER), vol. 2, no. 6, pp. 4434–4438, 2012.
Q. Ma and X. Lei, “Dynamic Path Planning of Mobile Robots Based on ABC Algorithm,” Lecture Notes in Computer Science, pp. 267–274, 2010. https://doi.org/10.1007/978-3-642-16527-6_34
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D. Karaboga, “An Idea Based on Honey Bee Swarm for Numerical Optimization,” Lecture Notes in Computer Science Technical Report-TR06, Erciyes University, Engineering Faculty, Computer Engineering Department, 2005.
N. Elkhateeb and R. Badr, “Employing Artificial Bee Colony With Dynamic Inertia Weight for Optimal Tuning of PID Controller,” 5th International Conference on Modeling, Identification and Control, pp. 42–46, Cairo, Egypt, 2013.
G. Zhu and S. Kwong, “Gbest-Guided Artificial Bee Colony Algorithm for Numerical Function Optimization,” Applied Mathematics and Computation, vol. 217, no. 7, pp. 3166–3173, Dec. 2010. https://doi.org/10.1016/j.amc.2010.08.049
N. Elkhateeb and R. Badr, “A Novel Variable Population Size Artificial Bee Colony Algorithm with Convergence Analysis for Optimal Parameter Tuning,” International Journal of Computational Intelligence and Applications, vol. 16, no. 3, pp. 1750018, Sep. 2017. https://doi.org/10.1142/S1469026817500183
X. Zhanga, K. F. Fongb, and S. Y. Yuena, “A Novel Artificial Bee Colony Algorithm for HVAC Optimization Problems,” HVAC&R Research, vol. 19, no. 6, pp. 715–731, 2013.
M.-C. Niculescu, “Real-Time Control Of A Two Link Manipulator Using Multi-Layered Perceptron’s,” Journal of Control Engineering and Applied Informatics, vol. 4, pp. 49–54, 2003.
J. G. Ziegler and N. B. Nichols, “Optimum Setting for Automatic Controllers,” Trans. ASME, vol. 64, pp. 759–768, 1942. https://doi.org/10.1115/1.2899060
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Z. Bingül and O. Karahan, “A Fuzzy Logic Controller Tuned With PSO for 2 DOF Robot Trajectory Control,” Expert Systems with Applications, vol. 38, no. 1, pp. 1017–1031, Jan. 2011. https://doi.org/10.1016/j.eswa.2010.07.131
N. A. Elkhateeb and R. I. Badr, “Dynamic Inertia Weight Artificial Bee Colony Versus GA and PSO for Optimal Tuning of PID Controller,” International Journal of Modelling, Identification and Control, vol. 22, no. 4, pp. 307, 2014. https://doi.org/10.1504/IJMIC.2014.066262
S. A. Ahmed and M. G. Petrov, “Trajectory Control of Mobile Robots Using Type-2 Fuzzy-Neural PID Controller,” IFAC-PapersOnLine, vol. 48, no. 24, pp. 138–143, 2015. https://doi.org/10.1016/j.ifacol.2015.12.071
P. V. Savsani and R. L. Jhala, “Optimal Motion Planning For a Robot Arm by Using Artificial Bee Colony (ABC) Algorithm,” International Journal of Modern Engineering Research (IJMER), vol. 2, no. 6, pp. 4434–4438, 2012.
Q. Ma and X. Lei, “Dynamic Path Planning of Mobile Robots Based on ABC Algorithm,” Lecture Notes in Computer Science, pp. 267–274, 2010. https://doi.org/10.1007/978-3-642-16527-6_34
T. Back, Evolutionary Algorithms in Theory and Practice. London, UK: Oxford University Press, 1996. http://doi.org/10.1002/(SICI)1099-0526(199703/04)2:4<26::AID-CPLX6>3.0.CO;2-7
S. N. Sivanandam and S. N. Deepa, Introduction to Genetic Algorithms. Springer-Verlag Berlin Heidelberg, 2008. https://doi.org/10.1007/978-3-540-73190-0
X.-S. Yang, “Engineering Optimizations via Nature-Inspired Virtual Bee Algorithms,” Lecture Notes in Computer Science, pp. 317–323, 2005. https://doi.org/10.1007/11499305_33
D. Karaboga, “An Idea Based on Honey Bee Swarm for Numerical Optimization,” Lecture Notes in Computer Science Technical Report-TR06, Erciyes University, Engineering Faculty, Computer Engineering Department, 2005.
N. Elkhateeb and R. Badr, “Employing Artificial Bee Colony With Dynamic Inertia Weight for Optimal Tuning of PID Controller,” 5th International Conference on Modeling, Identification and Control, pp. 42–46, Cairo, Egypt, 2013.
G. Zhu and S. Kwong, “Gbest-Guided Artificial Bee Colony Algorithm for Numerical Function Optimization,” Applied Mathematics and Computation, vol. 217, no. 7, pp. 3166–3173, Dec. 2010. https://doi.org/10.1016/j.amc.2010.08.049
N. Elkhateeb and R. Badr, “A Novel Variable Population Size Artificial Bee Colony Algorithm with Convergence Analysis for Optimal Parameter Tuning,” International Journal of Computational Intelligence and Applications, vol. 16, no. 3, pp. 1750018, Sep. 2017. https://doi.org/10.1142/S1469026817500183
X. Zhanga, K. F. Fongb, and S. Y. Yuena, “A Novel Artificial Bee Colony Algorithm for HVAC Optimization Problems,” HVAC&R Research, vol. 19, no. 6, pp. 715–731, 2013.
M.-C. Niculescu, “Real-Time Control Of A Two Link Manipulator Using Multi-Layered Perceptron’s,” Journal of Control Engineering and Applied Informatics, vol. 4, pp. 49–54, 2003.
J. G. Ziegler and N. B. Nichols, “Optimum Setting for Automatic Controllers,” Trans. ASME, vol. 64, pp. 759–768, 1942. https://doi.org/10.1115/1.2899060
D. Karaboga and B. Basturk, “A Powerful and Efficient Algorithm for Numerical Function Optimization: Artificial Bee Colony (ABC) Algorithm,” Journal of Global Optimization, vol. 39, no. 3, pp. 459–471, Apr. 2007. https://doi.org/10.1007/s10898-007-9149-x
Z. Bingül and O. Karahan, “A Fuzzy Logic Controller Tuned With PSO for 2 DOF Robot Trajectory Control,” Expert Systems with Applications, vol. 38, no. 1, pp. 1017–1031, Jan. 2011. https://doi.org/10.1016/j.eswa.2010.07.131
N. A. Elkhateeb and R. I. Badr, “Dynamic Inertia Weight Artificial Bee Colony Versus GA and PSO for Optimal Tuning of PID Controller,” International Journal of Modelling, Identification and Control, vol. 22, no. 4, pp. 307, 2014. https://doi.org/10.1504/IJMIC.2014.066262
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2017-12-01
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Copyright (c) 2017 Nasr A. Elkhateeb, Ragia I. Badr (Author)
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How to Cite
Elkhateeb, N. A., & Badr, R. I. (2017). Novel PID Tracking Controller for 2DOF Robotic Manipulator System Based on Artificial Bee Colony Algorithm. Electrical, Control and Communication Engineering, 13(1), 55-62. https://doi.org/10.1515/ecce-2017-0008
