Designing PID controllers for a five-bar linkage robot manipulator using BBO algorithm

Author

Kankashvar, Mohammad Rasoul ; Kharrati, Hamed ; Asl, Reza Mohammadi ; Sadeghiani, Ali Barzegari

Author_Institution

Fac. of Electr. & Comput. Eng., Univ. of Tabriz, Tabriz, Iran

fYear

2015

fDate

27-29 May 2015

Firstpage

1

Lastpage

6

Abstract

This paper introduces a new modified Biogeography-Based Optimization (BBO) algorithm for improving the result of basic algorithm. The modified BBO is employed to tune the PID parameters of a nonlinear five-bar linkage robot. This robot manipulator has nonlinear dynamics with coupling effects. Firstly, the manipulator is linearized and decoupled using the feedback linearization technique. The linearized system is controlled with a PID controller. To illustrate the effectiveness of the proposed controller, The simulation results are presented and compared with the conventional artificial intelligence algorithms.

Keywords

artificial intelligence; control system synthesis; feedback; manipulators; nonlinear control systems; optimisation; three-term control; BBO algorithm; PID controllers; artificial intelligence algorithms; biogeography-based optimization; feedback linearization; five-bar linkage robot manipulator; nonlinear dynamics; Couplings; Heuristic algorithms; Manipulator dynamics; Mathematical model; Optimization; Biogeography-Based Optimization; PID; evolutionary algorithms; feedback linearization; robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Modeling, Simulation, and Applied Optimization (ICMSAO), 2015 6th International Conference on

Conference_Location

Istanbul

Type

conf

DOI

10.1109/ICMSAO.2015.7152247

Filename

7152247