Title: Hybrid bacterial foraging and particle swarm optimisation for fuzzy precompensated control of flexible manipulator

Authors: Srinivasan Alavandar, Tushar Jain, M.J. Nigam

Addresses: Department of Electronics and Computer Engineering, Caledonian College of Engineering, Muscat 111, Oman. ' Department of Electronics and Computer Engineering, Indian Institute of Technology, Roorkee 247667, India. ' Department of Electronics and Computer Engineering, Indian Institute of Technology, Roorkee 247667, India

Abstract: This paper presents hybrid approach combining the social foraging behaviour of Escherichia coli bacteria and particle swarm optimisation for optimising hybrid fuzzy precompensated proportional-derivative (PD) controller in trajectory control of two-link rigid-flexible manipulator. Numerical simulation using the dynamic model of the two-link rigid-flexible manipulator shows the effectiveness of the approach in trajectory tracking problems. The use of fuzzy precompensation has superior performance in terms of improvement in transient and steady state response, robustness to variations in loading conditions and ease to use in practice. Comparative evaluation with respect to genetic algorithm, particle swarm and bacterial foraging-based optimisation is presented to validate the controller design. The proposed algorithm performs local search through the chemotactic movement operation of bacterial foraging whereas the global search over the entire search space is accomplished by a particle swarm operator and so satisfactory tracking precision could be achieved using the approach.

Keywords: bacterial foraging; PSO; particle swarm optimisation; fuzzy logic; rigid-flexible manipulators; hybrid optimisation; PD control; proportional-derivative control; trajectory control; robot control; manipulator control; numerical simulation; dynamic modelling; fuzzy control; trajectory tracking; genetic algorithms; control design; local search.

DOI: 10.1504/IJAAC.2010.030813

International Journal of Automation and Control, 2010 Vol.4 No.2, pp.234 - 251

Published online: 06 Jan 2010 *

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