Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism
Apstrakt
This paper presents the proportional–derivative fuzzy controller for
trajectory tracking of the gripping mechanism with two degrees of
freedom. Aiming to achieve movement of the gripping mechanism without
sudden starting and stopping, a polynomial velocity profile is utilized. The
African vultures optimization, as one of the latest metaheuristic
algorithms, is used to obtain the optimal input/output scaling gains of the
proposed fuzzy controller according to the selected fitness function. The
results obtained by this algorithm are compared with the other three new
and popular metaheuristic algorithms: the whale optimization, the ant lion
optimization and the sine cosine algorithm. Moreover, a simulation study
was done for the defined initial position and for the scenario where there is
a certain deviation because the gripping mechanism is not at its original
initial position. Finally, the robustness of the controller is tested for the
case when the masses of the segments i...ncrease three times. The results
revealed that the suggested controller was capable of dealing with
nonlinearities of the gripping mechanism, initial position and parameter
changes. The movement of the gripping mechanism is smooth and follows
the defined trajectory.
Ključne reči:
Gripping mechanism / Trajectory tracking / Fuzzy control / The African vultures optimization / Metaheuristic optimizationIzvor:
FME Transactions, 2022, 50, 3, 491-501Izdavač:
- University of Belgrade - Faculty of Mechanical Engineering
Finansiranje / projekti:
- MISSION4.0 - Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 (RS-ScienceFundRS-AI-6523109)
- Ministarstvo nauke, tehnološkog razvoja i inovacija Republike Srbije, institucionalno finansiranje - 200105 (Univerzitet u Beogradu, Mašinski fakultet) (RS-MESTD-inst-2020-200105)
- Inovativni pristup u primeni inteligentnih tehnoloških sistema za proizvodnju delova od lima zasnovan na ekološkim principima (RS-MESTD-Technological Development (TD or TR)-35004)
Kolekcije
Institucija/grupa
Mašinski fakultetTY - JOUR AU - Jovanović, Radiša AU - Bugarić, Uglješa AU - Vesović, Mitra AU - Perišić, Natalija PY - 2022 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4516 AB - This paper presents the proportional–derivative fuzzy controller for trajectory tracking of the gripping mechanism with two degrees of freedom. Aiming to achieve movement of the gripping mechanism without sudden starting and stopping, a polynomial velocity profile is utilized. The African vultures optimization, as one of the latest metaheuristic algorithms, is used to obtain the optimal input/output scaling gains of the proposed fuzzy controller according to the selected fitness function. The results obtained by this algorithm are compared with the other three new and popular metaheuristic algorithms: the whale optimization, the ant lion optimization and the sine cosine algorithm. Moreover, a simulation study was done for the defined initial position and for the scenario where there is a certain deviation because the gripping mechanism is not at its original initial position. Finally, the robustness of the controller is tested for the case when the masses of the segments increase three times. The results revealed that the suggested controller was capable of dealing with nonlinearities of the gripping mechanism, initial position and parameter changes. The movement of the gripping mechanism is smooth and follows the defined trajectory. PB - University of Belgrade - Faculty of Mechanical Engineering T2 - FME Transactions T1 - Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism EP - 501 IS - 3 SP - 491 VL - 50 DO - 10.5937/fme2203491J ER -
@article{ author = "Jovanović, Radiša and Bugarić, Uglješa and Vesović, Mitra and Perišić, Natalija", year = "2022", abstract = "This paper presents the proportional–derivative fuzzy controller for trajectory tracking of the gripping mechanism with two degrees of freedom. Aiming to achieve movement of the gripping mechanism without sudden starting and stopping, a polynomial velocity profile is utilized. The African vultures optimization, as one of the latest metaheuristic algorithms, is used to obtain the optimal input/output scaling gains of the proposed fuzzy controller according to the selected fitness function. The results obtained by this algorithm are compared with the other three new and popular metaheuristic algorithms: the whale optimization, the ant lion optimization and the sine cosine algorithm. Moreover, a simulation study was done for the defined initial position and for the scenario where there is a certain deviation because the gripping mechanism is not at its original initial position. Finally, the robustness of the controller is tested for the case when the masses of the segments increase three times. The results revealed that the suggested controller was capable of dealing with nonlinearities of the gripping mechanism, initial position and parameter changes. The movement of the gripping mechanism is smooth and follows the defined trajectory.", publisher = "University of Belgrade - Faculty of Mechanical Engineering", journal = "FME Transactions", title = "Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism", pages = "501-491", number = "3", volume = "50", doi = "10.5937/fme2203491J" }
Jovanović, R., Bugarić, U., Vesović, M.,& Perišić, N.. (2022). Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism. in FME Transactions University of Belgrade - Faculty of Mechanical Engineering., 50(3), 491-501. https://doi.org/10.5937/fme2203491J
Jovanović R, Bugarić U, Vesović M, Perišić N. Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism. in FME Transactions. 2022;50(3):491-501. doi:10.5937/fme2203491J .
Jovanović, Radiša, Bugarić, Uglješa, Vesović, Mitra , Perišić, Natalija, "Fuzzy Controller Optimized by the African Vultures Algorithm for Trajectory Tracking of a Two–Link Gripping Mechanism" in FME Transactions, 50, no. 3 (2022):491-501, https://doi.org/10.5937/fme2203491J . .