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Article
Publication date: 24 August 2010

Tushar Jain, Srinivasan Alavandar, Singh Vivekkumar Radhamohan and M.J. Nigam

The purpose of this paper is to propose a novel algorithm which hybridizes the best features of three basic algorithms, i.e. genetic algorithm, bacterial foraging, and particle…

Abstract

Purpose

The purpose of this paper is to propose a novel algorithm which hybridizes the best features of three basic algorithms, i.e. genetic algorithm, bacterial foraging, and particle swarm optimization (PSO) as genetically bacterial swarm optimization (GBSO). The implementation of GBSO is illustrated by designing the fuzzy pre‐compensated PD (FPPD) control for two‐link rigid‐flexible manipulator.

Design/methodology/approach

The hybridization is carried out in two phases; first, the diversity in searching the optimal solution is increased using selection, crossover, and mutation operators. Second, the search direction vector is optimized using PSO to enhance the convergence rate of the fitness function in achieving the optimality. The FPPD controller design objective was to tune the PD controller constants, normalization, and denormalization factors for both the joints so that integral square error, overshoots, and undershoots are minimized.

Findings

The proposed algorithm is tested on a set of mathematical functions which are then compared with the basic algorithms. The results showed that the GBSO had a convergence rate better than the other algorithms, reaching to the optimal solution. Also, an approach of using fuzzy pre‐compensator in reducing the overshoots and undershoots for loading‐unloading and circular trajectories had been successfully achieved over simple PD controller. The results presented emphasize that a satisfactory tracking precision could be achieved using hybrid FPPD controller with GBSO.

Originality/value

Simulation results were reported and the proposed algorithm indeed has established superiority over the basic algorithms with respect to set of functions considered and it can easily be extended for other global optimization problems. The proposed FPPD controller tuning approach is interesting for the design of controllers for inherently unstable high‐order systems.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 3 no. 3
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 9 January 2024

Zujin Jin, Zixin Yin, Siyang Peng and Yan Liu

Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy…

Abstract

Purpose

Large optical mirror processing systems (LOMPSs) consist of multiple subrobots, and correlated disturbance terms between these robots often lead to reduced processing accuracy. This abstract introduces a novel approach, the nonlinear subsystem adaptive dispersed fuzzy compensation control (ADFCC) method, aimed at enhancing the precision of LOMPSs.

Design/methodology/approach

The ADFCC model for LOMPS is developed through a nonlinear fuzzy adaptive algorithm. This model incorporates control parameters and disturbance terms (such as those arising from the external environment, friction and correlation) between subsystems to facilitate ADFCC. Error analysis is performed using the subsystem output parameters, and the resulting errors are used as feedback for compensation control.

Findings

Experimental analysis is conducted, specifically under the commonly used concentric circle processing trajectory in LOMPS. This analysis validates the effectiveness of the control model in enhancing processing accuracy.

Originality/value

The ADFCC strategy is demonstrated to significantly improve the accuracy of LOMPS output, offering a promising solution to the problem of correlated disturbances. This work holds the potential to benefit a wide range of practical applications.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 25 February 2014

Hung-Yi Chen

Recently, the micro-positioning technology has become more important for achieving the requirement of precision machinery. The piezo-actuator plays a very important role in this…

Abstract

Purpose

Recently, the micro-positioning technology has become more important for achieving the requirement of precision machinery. The piezo-actuator plays a very important role in this application area. A model-free adaptive sliding controller with fuzzy compensation is proposed for a piezo-actuated micro-drilling process control in this paper. The paper aims to discuss these issues.

Design/methodology/approach

Due to the system's nonlinear and time-varying characteristics, this control strategy employs the functional approximation technique to establish the unknown function for releasing the model-based requirement of the sliding mode control. In addition, a fuzzy scheme with online learning ability is augmented to compensate for the finite approximation error and facilitate the controller design.

Findings

The Lyapunov direct method can be applied to find adaptive laws for updating coefficients in the approximating series and tuning parameter in the fuzzy compensator to guarantee the control system stability. With the addition adaptive fuzzy compensator, as less as five Fourier series functions can be used to approximate the nonlinear time-varying function for designing a sliding mode controller for micro-drilling process control.

Originality/value

The important advantages of this approach are to achieve the sliding mode controller design without the system dynamic model requirement and release the trial-and-error work of selecting approximation function.

Details

Engineering Computations, vol. 31 no. 2
Type: Research Article
ISSN: 0264-4401

Keywords

Article
Publication date: 3 January 2017

Piotr Serkies and Krzysztof Szabat

The purpose of this paper is to design and test a linear predictive control algorithm with elements of fuzzy logic in the non-linear speed region of a two-mass system with a…

Abstract

Purpose

The purpose of this paper is to design and test a linear predictive control algorithm with elements of fuzzy logic in the non-linear speed region of a two-mass system with a flexible shaft.

Design/methodology/approach

To compensate the non-linearity of friction in the low-speed region, the elements of the Q matrix have been retuned with the use of fuzzy logic. First, the influence of the Q matrix on the dynamics of the drive has been discussed. On the basis of these findings a fuzzy system has been developed.

Findings

It has been demonstrated that applying a relatively simple fuzzy system can reduce unwanted non-linear phenomena in the low-speed region; at the same time, the dynamics of the drive in the other regions is not deteriorated.

Originality/value

The solutions presented in the paper are original and have not been published so far. The influence of non-linear friction on the work of the drive in the low-speed region at different values of the matrix Q has been shown. Also, a novel system of online adjustment of the values of the Q matrix in a predictive speed controller has been introduced. Besides, the system has been compared against the classical predictive regulator.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, vol. 36 no. 1
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 17 March 2022

Chengguo Liu, Ye He, Xiaoan Chen and Hongli Cao

As more and more robots are used in industry, it is necessary for robots to interact with high dynamic environments. For this reason, the purpose of this research is to form an…

Abstract

Purpose

As more and more robots are used in industry, it is necessary for robots to interact with high dynamic environments. For this reason, the purpose of this research is to form an excellent force controller by considering the transient contact force response, overshoot and steady-state force-tracking accuracy.

Design/methodology/approach

Combining the active disturbance rejection control (ADRC) and the adaptive fuzzy PD controller, an enhanced admittance force-tracking controller framework and a well-designed control scheme are proposed. Tracking differentiator balances the contradiction between inertia and jump control signal of the control object. Kalman filter and extended state observer are introduced to obtain purer feedback force signal and uncertainty compensation. Adaptive fuzzy PD controller is introduced to account for transient and steady state performance of the system.

Findings

The proposed controller has achieved successful results through simulation and actual test of 6-axis robot with minimum error.

Practical implications

The controller is simple and practical in real industrial scenarios, where force control by robots is required.

Originality/value

In this research, a new practical force control algorithm is proposed to guarantee the performance of the force controller for robots interacting with high dynamic environments.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 19 September 2019

Pengcheng Wang, Dengfeng Zhang and Baochun Lu

Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot…

Abstract

Purpose

Considering the external disturbances and dynamic uncertainties during the process of the trajectory tracking, this paper aims to address the problem of the welding robot trajectory tracking with guaranteed accuracy.

Design/methodology/approach

The controller consists sliding mode control, fuzzy control and low pass filter. The controller adopts low-pass filter to reduce the high frequency chattering control signal in sliding mode control. The fuzzy control model is used to simulate the external disturbance signal and the dynamic uncertainty signal, so that the controller can effectively restrain the chattering caused by the sliding mode control algorithm, realizing the track of the welding robot effectively and improving the robustness of the robot.

Findings

An innovative experiment device was adopted to realize the performance of the proposed controller. Considering the kinematic and dynamic uncertainty during the process of robot tracking, the tracking accuracy was realized within 0.3 mm.

Originality/value

This paper uses Lyapunov stability theory and Barbalat theorem to analyze the stability of the proposed controller.

Details

Industrial Robot: the international journal of robotics research and application, vol. 47 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 7 September 2015

Mohd Ariffanan Mohd Basri, Abdul Rashid Husain and Kumeresan A. Danapalasingam

The purpose of this paper is to propose a new approach for robust control of an autonomous quadrotor unmanned aerial vehicle (UAV) in automatic take-off, hovering and landing…

Abstract

Purpose

The purpose of this paper is to propose a new approach for robust control of an autonomous quadrotor unmanned aerial vehicle (UAV) in automatic take-off, hovering and landing mission and also to improve the stabilizing performance of the quadrotor with inherent time-varying disturbance.

Design/methodology/approach

First, the dynamic model of the aerial vehicle is mathematically formulated. Then, a combination of a nonlinear backstepping scheme with the intelligent fuzzy system as a new key idea to generate a robust controller is designed for the stabilization and altitude tracking of the vehicle. For the problem of determining the backstepping control parameters, a new heuristic algorithm, namely, Gravitational Search Algorithm has been used.

Findings

The control law design utilizes the backstepping control methodology that uses Lyapunov function which can guarantee the stability of the nominal model system, whereas the intelligent system is used as a compensator to attenuate the effects caused by external disturbances. Simulation results demonstrate that the proposed control scheme can achieve favorable control performances for automatic take-off, hovering and landing mission of quadrotor UAV even in the presence of unknown perturbations.

Originality/value

This paper propose a new robust control design approach which incorporates the backstepping control with fuzzy system for quadrotor UAV with inherent time-varying disturbance. The originality of this work relies on the technique to compensate the disturbances acting on the quadrotor UAV. In this new approach, the fuzzy system is introduced as an auxiliary control effort to compensate the effect of disturbances. Because the proposed control technique has the capability of robustness against disturbance, thus, it is also suitable to be applied for a broad class of uncertain nonlinear systems.

Details

Aircraft Engineering and Aerospace Technology: An International Journal, vol. 87 no. 5
Type: Research Article
ISSN: 0002-2667

Keywords

Article
Publication date: 2 April 2019

Tayfun Abut and Servet Soyguder

This paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.

1288

Abstract

Purpose

This paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.

Design/methodology/approach

As inverted pendulum systems are structurally unstable and nonlinear dynamic systems, they are important mechanisms used in engineering and technological developments to apply control techniques on these systems and to develop control algorithms, thus ensuring that the controllers designed for real-time balancing of these systems have certain performance criteria and the selection of each controller method according to performance criteria in the presence of destructive effects is very helpful in getting information about applying the methods to other systems.

Findings

As a result, the designed controllers are implemented on a real-time and real system, and the performance results of the system are obtained graphically, compared and analyzed.

Originality/value

In this study, motion equations of a linear inverted pendulum system are obtained, and classical and artificial intelligence adaptive control algorithms are designed and implemented for real-time control. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods are used to control the system. Self-tuning PID-type fuzzy adaptive controller was used first in the literature search and success results have been obtained. In this regard, the authors have the idea that this work is an innovative aspect of real-time with self-tuning PID-type fuzzy adaptive controller.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 14 October 2020

Yew-Chung Chak, Renuganth Varatharajoo and Nima Assadian

The paper aims to address the combined attitude control and Sun tracking problem in a flexible spacecraft in the presence of external and internal disturbances. The attitude…

Abstract

Purpose

The paper aims to address the combined attitude control and Sun tracking problem in a flexible spacecraft in the presence of external and internal disturbances. The attitude stabilization of a flexible satellite is generally a challenging control problem, because of the facts that satellite kinematic and dynamic equations are inherently nonlinear, the rigid–flexible coupling dynamical effect, as well as the uncertainty that arises from the effect of actuator anomalies.

Design/methodology/approach

To deal with these issues in the combined attitude and Sun tracking system, a novel control scheme is proposed based on the adaptive fuzzy Jacobian approach. The augmented spacecraft model is then analyzed and the Lyapunov-based backstepping method is applied to develop a nonlinear three-axis attitude pointing control law and the adaptation law.

Findings

Numerical results show the effectiveness of the proposed adaptive control scheme in simultaneously tracking the desired attitude and the Sun.

Practical implications

Reaction wheels are commonly used in many spacecraft systems for the three-axis attitude control by delivering precise torques. If a reaction wheel suffers from an irreversible mechanical breakdown, then it is likely going to interrupt the mission, or even leading to a catastrophic loss. The pitch-axis mounted solar array drive assemblies (SADAs) can be exploited to anticipate such situation to generate a differential torque. As the solar panels are rotated by the SADAs to be orientated relative to the Sun, the pitch-axis wheel control torque demand can be compensated by the differential torque.

Originality/value

The proposed Jacobian control scheme is inspired by the knowledge of Jacobian matrix in the trajectory tracking of robotic manipulators.

Details

Aircraft Engineering and Aerospace Technology, vol. 93 no. 1
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 23 August 2011

Shanchun Wei, Meng Kong, Tao Lin and Shanben Chen

This paper aims to develop a method to achieve automatic robotic welding and seam tracking so that three‐dimensional weld seam could be tracked without teaching and good welding…

Abstract

Purpose

This paper aims to develop a method to achieve automatic robotic welding and seam tracking so that three‐dimensional weld seam could be tracked without teaching and good welding formation could be accomplished.

Design/methodology/approach

Adaptive image processing method was used for various types of weld seam. Also the relationship between welding height and arc signal was calibrated. Through the decomposition and synthesis, three‐dimensional space type weld seam could be extracted and tracked well. The workpiece without teaching was finally tracked precisely and in a timely way with use of the fuzzy controller.

Findings

Composite sensing technology including arc and visual sensing had obvious advantages. Image processing method could be used for tracking plane weld seam efficiently while arc sensing could characterize welding height. Through the coupled controlling algorithm, arc sensing and visual sensing could be fused effectively.

Research limitations/implications

How to couple information more accurately and quickly was still one of the most important problems in composite sensing technology.

Practical implications

Composite sensing technology could reduce costs to achieve weld seam instead such expensive device as laser sensor. The simulating parts of scalloped segment of bottom board for rockets were tracked in the project. Once more adaptive algorithms were developed, more complicated practical workpieces could be dealt with in robotic welding which promotes the application of industry robots.

Originality/value

A useful method for three‐dimensional space type weld seam tracking without teaching was developed. The whole procedure of adaptive image processing method was simple but efficient and robust. The coupled controlling strategy addressed could accomplish seam tracking by composite sensing technology.

Details

Industrial Robot: An International Journal, vol. 38 no. 5
Type: Research Article
ISSN: 0143-991X

Keywords

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