Online optimization based model predictive control on two wheel Segway system

Prabhakar, G.; Selvaperumal, S.; Pugazhenthi, P. Nedumal; Umamaheswari, K.; Elamurugan, P.

doi:10.1016/j.matpr.2020.06.227

Cited by 6 publications

(2 citation statements)

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“…In addition, other extension of the work can be made by including other optimization techniques for the sake of comparison. 49–55 Cooperative control can be developed for this type of 3-RRR planar parallel robot for the surgical application. 12,14,56…”

Section: Discussionmentioning

confidence: 99%

Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

Humaidi

Najem

Al-Dujaili

et al. 2021

Measurement and Control

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This paper presents control design based on an Interval Type-2 Fuzzy Logic (IT2FL) for the trajectory tracking of 3-RRR (3-Revolute-Revolute-Revolute) planar parallel robot. The design of Type-1 Fuzzy Logic Controller (T1FLC) is also considered for the purpose of comparison with the IT2FLC in terms of robustness and trajectory tracking characteristics. The scaling factors in the output and input of T1FL and IT2FL controllers play a vital role in improving the performance of the closed-loop system. However, using trial-and-error procedure for tuning these design parameters is exhaustive and hence an optimization technique is applied to achieve their optimal values and to reach an improved performance. In this study, Social Spider Optimization (SSO) algorithm is proposed as a useful tool to tune the parameters of proportional-derivative (PD) versions of both IT2FLC and T1FLC. Two scenarios, based on two square desired trajectories (with and without disturbance), have been tested to evaluate the tracking performance and robustness characteristics of proposed controllers. The effectiveness of controllers have been verified via numerical simulations based on MATLAB/SIMULINK programming software, which showed the superior of IT2FLC in terms of robustness and tracking errors.

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Section: Discussionmentioning

confidence: 99%

Social spider optimization algorithm for tuning parameters in PD-like Interval Type-2 Fuzzy Logic Controller applied to a parallel robot

Humaidi

Najem

Al-Dujaili

et al. 2021

Measurement and Control

View full text Add to dashboard Cite

show abstract

“…Tasarlanan robotun uzaktan kumanda ile kontrol edilmesi üzerine yapılan çalışmalar da bulunmaktadır [2], [13]. İki tekerlekli araçlarda bataryanın önemi ve mevcut batarya ile daha uzun menziller gidebilmek için optimizasyon çalışması yapılarak bataryanın ömrünü uzatma üzerine çalışma yapılmıştır [21], [22]. Pranav ve arkadaşları iki tekerlekli elektrikli aracın kontrolünde Robust tabanlı yüksek dereceli hareketli kayan kipli kontrol algoritmasını kullanarak daha stabil ve daha güvenli bir sürüş elde etmişlerdir [23].…”

Section: Introductionunclassified