The Bees Algorithm Approach to Determining SMC Controller Parameters for the Position Control of a SCARA Robot Manipulator

Ilgen, Sinan; Durdu, Akif; Gülbahçe, Erdi; Çakan, Abdullah; Kalyoncu, Mete

doi:10.31590/ejosat.883266

Cited by 3 publications

(3 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As shown in below, the process is repeated until the iteration is over or the appropriate solution is found. Although Genetic Algorithm may not find the accurate answer as it works according to the rules of probability, it is used to solve problems that are difficult or impossible to solve with traditional methods (Holland 1992;İlgen et al, 2022).…”

Section: Dimension Optimization With Genetic Algorithmmentioning

confidence: 99%

Dört Çubuk Mekanizmalı Diz Protezlerinin Arı Algoritması ve Genetik Algoritma ile Boyut Optimizasyonu

AYĞAHOĞLU,

GÜMÜŞ,

ÇAKAN

et al. 2023

Journal of Materials and Mechatronics: A

Self Cite

View full text Add to dashboard Cite

In knee prostheses, the curve of the instantaneous center of rotation (ICR) and, therefore, stability of the prothesis are the most important parameters to be considered. The ICR curve depends on many parameters. One of them and the most effective one is the dimensions of four bar mechanism. In polycentric knee mechanisms, it has become inevitable to use optimization techniques while determining the dimensions of the mechanism for the stability of the prosthesis in the stance position. In this study, definitions of knee prostheses and polycentric knee mechanisms are given, optimization studies written in this field are mentioned thorough literature research. The study aims to find mechanism dimensions that gives ICR curve close to the reference curve by optimizing the mechanism dimensions of four-bar knee mechanisms. The Bees Algorithm and Genetic Algorithm (GA) were used for this purpose. The limits and objective function for the optimization were determined, and after many trials, separate mechanism dimensions with The Bees Algorithm and the Genetic Algorithm are obtained. By comparing the results, it was seen that The Bees Algorithm gave better results.

show abstract

Section: Dimension Optimization With Genetic Algorithmmentioning

confidence: 99%

Dört Çubuk Mekanizmalı Diz Protezlerinin Arı Algoritması ve Genetik Algoritma ile Boyut Optimizasyonu

AYĞAHOĞLU,

GÜMÜŞ,

ÇAKAN

et al. 2023

Journal of Materials and Mechatronics: A

Self Cite

View full text Add to dashboard Cite

show abstract

“…The basic BA requires a number of parameters to be set and these are as follows: the number of explorer or scout bees (n), number of the most suitable sites among the n points visited (m), number of top rated (elite) sites among the m selected sites (e), number of bees recruited for the best e sites (nep), the number of bees sent to the remaining (m-e) area (nsp), the region size (ngh) and stopping criterion (itr) (Ilgen et. al., 2022).…”

Section: The Bees Algorithm (Ba)mentioning

confidence: 99%

Hidrolik Silindir Tasarımı Ve Optimizasyonunda Arı Algoritmasının Uygulanması

Sözen

Şahi̇n

Kalyoncu

2022

Konya Journal of Engineering Sciences

Self Cite

View full text Add to dashboard Cite

In this study, mass minimization of a simple double-acting hydraulic cylinder has been studied using The Bees Algorithm (BA) for a specific force and known material, considering the buckling and pressure constraints. A Hydraulic cylinder is a hydraulic actuator that creates linear movement by converting hydraulic energy back to a mechanical movement. Hydraulic-driven working machines are widespread in the industry today. Hydraulic cylinders are used in mobile applications such as container lifting devices, excavators, dump trucks, loaders, graders and dozers. Weight reduction in these cylinders plays a fundamental role in the performance of the machine in terms of lifting capacity, speed, costing, etc. The Bees Algorithm is a metaheuristic algorithm that mimics the natural foraging behavior of honey bees to find the optimum solutions. The advantages over other algorithms are its ability to search both locally and globally and being applicable for several optimization problems with the chance to be integrated with other algorithms. In this study, it is also aimed to determine the optimal parameters of the bees algorithm for minimum computation cost.

show abstract

“…Commonly used control methods for robotic arms include sliding mode control [5], PID control [6], and neural network control [7]. Sliding mode control (SMC) has the advantage of being insensitive to system uncertainty and parameter changes, which can somewhat solve the instability factors that may occur in the robotic arm system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Dynamic Boundary Sliding Mode Control for Robotic Manipulators under Varying Disturbances

Song,

Bao,

Wang

et al. 2024

Electronics

View full text Add to dashboard Cite

This paper introduces an Adaptive Dynamic Bounded Sliding Mode Control (ADBSMC) method that incorporates a disturbance observer to enhance the response characteristics of the robot manipulator while eliminating the reliance on a priori knowledge. The proposed method utilizes nonlinear sliding mode manifolds and fast-terminal-type convergence laws to address errors and parameter uncertainties inherent in the nonlinear system models. The adaptive law is designed to cover all boundary conditions based on the model’s state. It can dynamically determine upper and lower bounds without requiring prior knowledge. Consequently, the ADBSMC control method amalgamates the benefits of adaptive law and fast terminal sliding mode, leading to significant enhancements in control performance compared with traditional sliding mode control (SMC), exhibiting robustness against uncertain disturbances. To mitigate external disturbances, a system-adapted disturbance observer is devised, facilitating real-time monitoring and compensation for system disturbances. The stability of ADBSMC is demonstrated through the Lyapunov method. Simulation and experimental results validate the effectiveness and superiority of the ADBSMC control scheme, showcasing its potential for practical applications.

show abstract

The Bees Algorithm Approach to Determining SMC Controller Parameters for the Position Control of a SCARA Robot Manipulator

Cited by 3 publications

References 24 publications

Dört Çubuk Mekanizmalı Diz Protezlerinin Arı Algoritması ve Genetik Algoritma ile Boyut Optimizasyonu

Dört Çubuk Mekanizmalı Diz Protezlerinin Arı Algoritması ve Genetik Algoritma ile Boyut Optimizasyonu

Hidrolik Silindir Tasarımı Ve Optimizasyonunda Arı Algoritmasının Uygulanması

Adaptive Dynamic Boundary Sliding Mode Control for Robotic Manipulators under Varying Disturbances

Contact Info

Product

Resources

About