Trajectory tracking performance comparison between genetic algorithm and ant colony optimization for PID controller tuning on pressure process

Ünal, Muhammet; Erdal, Hasan; Topuz, Vedat

doi:10.1002/cae.20420

Cited by 14 publications

(6 citation statements)

References 22 publications

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“…In this section, the controller is designed using MATLAB/ SIMULINK, where the parameters of the coefficients should be adjusted, for the best distance covered by the robot. There are several ways to adjust the parameters: the gradient de scent method, the ZieglerNichols method [15], based on the obtained nonlinear dependencies of the robot's behavior. In our case, the behavior of the actuators was studied in detail on the basis of physical modeling of the operation of direct current motors.…”

Section: Resultsmentioning

confidence: 99%

Development of the control system for LEGO Mindstorms EV3 mobile robot based on MATLAB/Simulink elements

Dong¹,

Povorozniuk

Topalov

et al. 2023

TAPR

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The Mindstorms EV3 robot, developed by LEGO, is one of the popular robots that has been widely used in various fields. Unlike previous versions of mobile LEGO robots, EV3 allows the development of real-time applications for teaching a variety of subjects, as well as for conducting research experiments. The object of research in this case is the Mindstorms EV3 robot connected to MATLAB/Simulink. The design consists of a controller, one color sensor, two servo motors and one support wheel. Each servo motor is built on a DC collector motor with a matching gearbox and has the ability to measure the number of revolutions corresponding. A digital sensor with a sampling frequency of 1 kHz is used as a color sensor, which can determine the color or brightness of light. Despite its popularity, the EV3 robot control system in interaction with the MATLAB/Simulink programming environment is a rather complex solution and therefore requires further research. The scientific part of the research focuses on discovering the regularities of the Mindstorms EV3 control system, developing a control system model, and exploring the potential of MATLAB/Simulink to expand the robot's capabilities. An analysis of the main elements of the control system, such as sensors and servos, was carried out. The graphs of the dependences of the characteristics of the servo drives were built and the efficiency of the robot movement was checked depending on the parameters set in the program. The result of the development of the mobile robot control system was the adjustment of the mobile robot movement regulators along a given trajectory in the form of a drawn line, which allowed estimating the maximum permissible speed of the robot movement. The presented research and development of a control system based on MATLAB/Simulink elements allows using the proposed method to control a mobile robot with high precision, analyze and verify the robot's electromechanical parameters in real time. This control system has a high potential and can practically be integrated into industrial objects of mobile robotics, provided types the sensors and executive mechanisms of the mobile robot match.

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Section: Resultsmentioning

confidence: 99%

Development of the control system for LEGO Mindstorms EV3 mobile robot based on MATLAB/Simulink elements

Dong¹,

Povorozniuk

Topalov

et al. 2023

TAPR

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“…Before PID controller implementing, three key coefficients should be set appropriately. There are several ways to tune the parameters, one of them is the "Ziegler-Nichols Method" [10] (shown in TABLE I). It is important that control engineering students are familiar with the theory [11] and application of the highly popular PID tuning method [12].…”

Section: Evaluation and Resultsmentioning

confidence: 99%

Control System Teaching and Experiment Using LEGO MINDSTORMS NXT Robot

Ding¹,

Li²,

Pan³

2017

IJIET

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Abstract-Control system Teaching in new era is quite challenging, because many control concepts are formulated in the form of mathematics. In this paper, LEGO Mindstorms NXT connected with MATLAB/Simulink is introduced to assist the control system teaching. Lego Mindstorms NXT builds a mobile robot which includes two servomotors and one infrared light sensor. PID controller is designed in MATLAB/Simulink to achieve the line tracking of the mobile robot. Using the Ziegler-Nichols method, three key coefficients (proportional, integral and derivative) are tuned to get optimal control. The performance of PID controller has been validated by a series of experiments at different designed trajectories. Using the proposed method, the students can analyze and test the PID controller conveniently. These methods can also be extended to other similar courses.Index Terms-LEGO Mindstorms NXT, line tracking, MATLAB/SIMULINK, PID control.

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“…Figure 4 present the flowchart of ACO for optimize the parameter of the tracking controller. The optimum controller parameter calculation realized depending on the cost functions equation [30]:…”

Section: The Ant Colony Optimization Algorithmmentioning

confidence: 99%

Path tracking control of differential drive mobile robot based on chaotic-billiards optimization algorithm

Mohammed

Dessouki²,

Elnaghi³

2023

IJECE

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<span lang="EN-US">Mobile robots are typically depending only on robot kinematics control. However, when high-speed motions and highly loaded transfer are considered, it is necessary to analyze dynamics of the robot to limit tracking error. The goal of this paper is to present a new algorithm, chaotic-billiards optimizer (C-BO) to optimize internal controller parameters of a differential-drive mobile robot (DDMR)-based dynamic model. The C-BO algorithm is notable for its ease of implementation, minimal number of design parameters, high convergence speed, and low computing burden. In addition, a comparison between the performance of C-BO and ant colony optimization (ACO) to determine the optimum controller coefficient that provides superior performance and convergence of the path tracking. The ISE criterion is selected as a fitness function in a simulation-based optimization strategy. For the point of accuracy, the velocity-based dynamic compensation controller was successfully integrated with the motion controller proposed in this study for the robot's kinematics. Control structure of the model was tested using MATLAB/Simulink. The results demonstrate that the suggested C-BO, with steady state error performance of 0.6 percent compared to ACO's 0.8 percent, is the optimum alternative for parameter optimizing the controller for precise path tracking. Also, it offers advantages of quick response, high tracking precision, and outstanding anti-interference capability.</span>

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Trajectory tracking performance comparison between genetic algorithm and ant colony optimization for PID controller tuning on pressure process

Cited by 14 publications

References 22 publications

Development of the control system for LEGO Mindstorms EV3 mobile robot based on MATLAB/Simulink elements

Development of the control system for LEGO Mindstorms EV3 mobile robot based on MATLAB/Simulink elements

Control System Teaching and Experiment Using LEGO MINDSTORMS NXT Robot

Path tracking control of differential drive mobile robot based on chaotic-billiards optimization algorithm

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