Optimized LQR-PID Controller Using Squirrel Search Algorithm for Trajectory Tracking of a 6-DoF Parallel Manipulator

Abstract

In 6 Degree of Freedom (DOF) parallel manipulator, trajectory tracking is one of the main challenges. To obtain the desired trajectory, the DC motor needs to generate optimal torque. So to obtain optimal torque, an optimized Linear Quadratic Regulator-Proportional–Integral–Derivative (LQR-PID) controller is presented in this paper. For optimizing the Q, R and gain parameters of LQR-PID controller, Squirrel Search Algorithm (SSA) is presented. In this algorithm, minimal cost function of LQR-PID controller is considered as objective function. The SSA based LQR-PID controller leads the motor to generate optimal torque that helps to attain the desired trajectory of 6-DOF parallel manipulator. Results of the work depicts that the SSA based LQR-PID controller achieves the best mean velocity, sum square error (SSE), integral square error (ISE) and integral absolute error (IAE).

Analysing Various Control Technics for Manipulator Robotic System (Robogymnast)

“…Fig. 8 shows a possible implementation of the Robogymnast with the FLQR controller, through Simulink [17,22]. FLCs' performance is significantly affected by the way the linguistic fuzzy rules base is structured.…”