Improved PSO tuned Classical Controllers (PID and SMC) for Robotic Manipulator

Автор: Neha Kapoor, Jyoti Ohri

Журнал: International Journal of Modern Education and Computer Science (IJMECS) @ijmecs

Статья в выпуске: 1 vol.7, 2015 года.

Бесплатный доступ

Due to simplicity and robustness, classical PID and SMC have been still widely used in practical applications. Performance of these controllers (PID and SMC) depends upon the value of some of the constant controller parameters. To avoid the most commonly used tedious trial and error method, this paper proposes an improved PSO based method for getting the optimized value of these parameters. For validation purpose these improved PSO tuned Proportional Integral Derivative (PID) and Sliding Mode (SMC) classical controllers have been applied for the motion control problem of the robotic manipulator. The chattering problem of SMC has been handled by using pseudo sliding function. Further results have been analyzed by comparing them with the basic conventional controllers. Results and conclusions are based on simulation results.

Еще

Non-linear control systems, Particle Swarm Optimization (PSO), Proportional Integral Derivative (PID), Sliding Mode Controller (SMC), Pseudo Sliding Function

Короткий адрес: https://sciup.org/15014723

IDR: 15014723

Список литературы Improved PSO tuned Classical Controllers (PID and SMC) for Robotic Manipulator

  • Y. Choi, W.K. Chung, I. H. Suh, “Performance And H∞ Optimality Of PID Trajectory Tracking Control For Lagrangian System”, IEEE Transactions on Robotics and Automation, vol. 17, issue 6,pp. 857-869, 2001.
  • S. V. Drakunov, V. I. Utkin, “Sliding Mode Control In Dynamical Systems”, Int. J. Control, vol. 55, issue 4, pp. 1029-1037, 1992.
  • G. Huang, C. Jiang, Y. Wang, “Adaptive Terminal Sliding Mode Control And Application For UASV Re-entry”, Control and Decision, vol. 22, issue 11, pp. 1297-1301, 2007.
  • N. Kapoor, J. Ohri, “Path Tracking Algorithm for a Robot Manipulator”, IEEE sponsored International Conference on Advance Computing and Communications Technologies, pp. 344-347, 2011.
  • W. Gao, “Variable structure control theory”, Beijing, Chinese Science and Technique Press, 1990.
  • F. Ardjani and K. Sadouni, “Optimization of SVM Multiclass by Particle Swarm Optimization (PSO-SVM)”, Int. Journal of Modern Education and Computer Science, vol. 2, pp. 32-38, 2010.
  • K. D. Young, V. I. Utkin, U. Ozguner, “A Control Engineer’s Guide To Sliding Mode Control”, IEEE Trans. Control Syst. Technol., vol. 7, issue 3, pp. 328–342, 1999.
  • A. E. Serbencu, A. Serbencu, D.C. Cernega, V. M?nzu, “Particle Swarm Optimization for the Sliding Mode Controller Parameters”, 29th Chinese Control Conference China, pp. 1859-1864, 2010.
  • J. J. Slotine, W. Li, “Applied Nonlinear Control”, Englewood Cliffs. NJ: Prentice-Hall, 1991.
  • J. A.Burton, A. S. I. Zinober, “Continuous Approximation Of Variable Structure Control”, Int. J. Syst. Sci., vol. 17, issue 6, pp. 875–885, 1986.
  • A. Levant, L. Fridman, “Robustness Issues Of 2-Sliding Mode Control. Variable Structure Systems”, Principles to Implementation, Stevenage U.K IET, pp. 129–154, 2004.
  • N. Kapoor, J. Ohri, “Integrating A Few Actions For Chattering Reduction And Error Convergence In Sliding Mode Controller In Robotic Manipulator”, IJERT, vol. 2, issue 5, pp. 466-472, 2013.
  • The Berkeley Institute in Soft Computing. [Online]. Available: http://www-bisc.cs.berkeley.edu.
  • Y. B. Wang, X. Peng, B. Z. Wei, “A New Particle Swarm Optimization Based Auto-Tuning Of PID Controller”, Seventh International Conference on Machine Learning and Cybernetics Kunming, pp. 1818-1823, 2008.
  • Z. L. Gaing, “A Particle Swarm Optimization Approach for Optimum Design of PID Controller in AVR System”, IEEE Transactions on Energy Conversion, vol. 19, issue 2, pp. 384-391, 2004.
  • H. I. Kang, M. W. Kwon, H. G. Bae, “Comparative Study of PID Controller Designs Using Particle Swarm Optimizations for Automatic Voltage Regulators”, IEEE conf on Information Science And Applications, pp. 1-5, 2011.
  • T. H. Kim, I. Maruta, T. Sugie, “Particle Swarm Optimization based Robust PID Controller Tuning Scheme”, 46th IEEE Conference on Decision and Control, New Orleans LA USA, pp. 200-205, 2007.
  • S. I. Han, J. M. Lee, “Friction and Uncertainty Compensation of Robot Manipulator Using Optimal Recurrent Cerebellar Model Articulation Controller And Elasto-plastic Friction Observer”, IET Control Theory Appl., vol. 5, issue 18, pp. 2120–2141, 2011.
  • J. Yao, R. Ordonez, V. Gazi, “Swarm Tracking Using Artificial Potentials and Sliding Mode Control”, 45th IEEE Conference on Decision & Control, Manchester Grand Hyatt Hotel San Diego CA USA, pp. 4670-4675, 2006.
  • V. Gazi, “Swarm Aggregations Using Artificial Potentials and Sliding-Mode Control”, IEEE Transactions on Robotics, vol. 21, issue 6, pp. 1208-1214, 2005.
  • R. R. Nair, L. Behera, “Swarm Aggregation Using Artificial Potential Field and Fuzzy Sliding Mode Control with Adaptive Tuning Technique”, American Control Conference, Fairmont Queen Elizabeth Montréal Canada, pp. 6184-6189, 2012.
  • T. A. Fouad, Y. L. Abdel-Magid, K. Alhammadi, H. Karki, “An Optimized Chattering Free Sliding Mode Controller to Suppress Torsional Vibrations In Drilling Strings”, GCC Conference and Exhibition (GCC), Dubai United Arab Emirates, pp. 573-576, 2011.
  • M. W. Spong, M. Vidyasagar, “Robot Dynamics and Control”, Wiley-India Edition. New York.
  • Active Media Robotics. Mobile robots www.mobilerobots.com
  • P. C. Fourie, A. A. Groenwold, “The Particle Swarm Optimization Algorithm in Size And Shape Optimization”, Struct Multidiscip Optimiz, vol. 23, issue 4, pp. 259–67, 2002.
  • A. Khare, S. Rangnekar, “A Review of Particle Swarm Optimization and Its Applications in Solar Photovoltaic system”, Applied Soft Computing, pp. 2997–3006, 2013.
  • P. C. Fourie, A.A. Groenwold, “The particle swarm optimization algorithm in size and shape optimization”, Struct Multidiscip Optimiz, vol. 23, issue 4, pp. 259–67, 2002.
  • B. W. Bekit, J. F. Whidborne, L. D. Seneviratne, “Fuzzy Sliding Mode Control for Robot Manipulator”, IEEE Int. Symp. Computational Intelligence Robotics Automation, vol. 1, pp. 320–325, 1997.
  • T. C. Kuo, Y. J. Huang, “A Sliding Mode PID-Controller Design For Robot Manipulator”, IEEE Conf. on Computational Intelligence in Robotics and Automation, pp. 625-629, 2005.
  • I. Ekeri, “Sliding Mode Control with PID Sliding Surface and Experimental Application to an Electromechanical Plant”, ISA Trans, vol. 45, issue, pp. 109-118, 2006.
  • T. C. Kuo, Y. J. Huang, “Global Stabilization of Robot Control with Neural Network And Sliding Mode”, Engineering Letters, vol. 16, issue 1, pp. 56, 2008.
  • R. K. Munje, M. R. Roda, Kushare B. E., “Speed Control of DC Motor Using PI and SMC”, IEEE Conf. IPEP Singapore, pp. 945-950, 2010.
  • H. Olsson, K. J. ?str?m, C. Canudas de Wit, M. G?fvert, P. Lischinsky, “Friction Models and Friction Compensation”, European Journal of Control, pp. 176-195, 1998.
Еще
Статья научная