Seeker optimization algorithm for optimal control of manipulator

作     者：Chen, Chunchao Li, Jinsong Luo, Jun Xie, Shaorong Li, Hengyu 

作者机构：Shanghai Univ Sch Mechatron Engn & Automat Shanghai Peoples R China Henan Polytech Univ Sch Mech & Power Engn Jiaozuo Henan Peoples R China State Nucl Power Plant Serv Co Shanghai Peoples R China 

出 版 物：《INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION》 (Ind. Robot)

年 卷 期：2016年第43卷第6期

页      面：677-686页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：National Natural Science Foundation of China Key Projects of the National Natural Science Foundation of China 

主　　题：Fuzzy PID Robot manipulator Seeker optimization algorithm 

摘      要：Purpose - This paper aims to improve the adaptability and control performance of the controller, a proposed seeker optimization algorithm (SOA) is introduced to optimize the controller parameters of a robot manipulator. Design/methodology/approach - In this paper, a traditional proportional integral derivative (PID) controller and a fuzzy logic controller are integrated to form a fuzzy PID (FPID) controller. The SOA, as a novel algorithm, is used for optimizing the controller parameters offline. There is a performance comparison in terms of FPID optimization about the SOA, the genetic algorithm (GA), particle swarm optimization (PSO) and ant colony optimization (ACO). The DC motor model and the experimental platform are used to test the performance of the optimized controller. Findings - Compared with GA, PSO and ACO, this novel optimization algorithm can enhance the control accuracy of the system. The optimized parameters ensure a system with faster response speed and better robustness. Originality/value - A simplified FPID controller structure is constructed and a novel SOA method for FPID controller is presented. In this paper, the SOA is applied on the controller of 5-DOF manipulator, and the validation of controllers is tested by experiments.