Robust Control of Robot Manipulators Using Particle Swarm Optimization Method

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Rajaei Fazllolah; Riazi Seyed Mohammad Ali; Azargoshasb Siamak

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Journal Paper

Paper Information

Journal: JOURNAL OF COMMUNICATION ENGINEERING Year:2022 | Volume:12 | Issue:45 Page(s): 75-91

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Information Journal Paper

Title

Robust Control of Robot Manipulators Using Particle Swarm Optimization Method

Author(s)

Rajaei Fazllolah | Riazi Seyed Mohammad Ali | Azargoshasb Siamak | Issue Writer Certificate

Keywords

Robust Control

Uncertainty

particle swarm optimization

Robot Manipulators

Abstract

In this paper, a new method for Robust Control of robotic arm position using particle swarm optimization is proposed. The whole robotic system, including the robot arm and motors, is considered in the control problem. The main purpose of this paper is to obtain an optimal estimate of the parameters of the control law in order to achieve the minimum tracking error that congestion optimization is used. Also, the design of the control law is based on the nominal model. The real model uses intelligent systems. Optimal Robust Control is confirmed by convergence analysis. The stability of the system is demonstrated using Lyapunov's direct method, and the simulation results show the effectiveness of the proposed methods applied to a spherical robot driven by permanent magnet dc motors. Using the simulation results, the optimal values of the parameters in the torque controllers have not converged to their true values due to the large modeless dynamics, while they have converged to their true values in the voltage control because it has only parametric Uncertainty. The torque control law also requires position vector, velocity vector, and acceleration vector feedback. These feedbacks cannot be easily obtained. In contrast, the law of voltage control requires feedback from the position vector, velocity vector, current vector, and time derivative. These feedbacks can be easily accessed.

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APA: Copy

Rajaei, Fazllolah, Riazi, Seyed Mohammad Ali, & Azargoshasb, Siamak. (2022). Robust Control of Robot Manipulators Using Particle Swarm Optimization Method. JOURNAL OF COMMUNICATION ENGINEERING, 12(45 ), 75-91. SID. https://sid.ir/paper/963731/en

Vancouver: Copy

Rajaei Fazllolah, Riazi Seyed Mohammad Ali, Azargoshasb Siamak. Robust Control of Robot Manipulators Using Particle Swarm Optimization Method. JOURNAL OF COMMUNICATION ENGINEERING[Internet]. 2022;12(45 ):75-91. Available from: https://sid.ir/paper/963731/en

IEEE: Copy

Fazllolah Rajaei, Seyed Mohammad Ali Riazi, and Siamak Azargoshasb, “Robust Control of Robot Manipulators Using Particle Swarm Optimization Method,” JOURNAL OF COMMUNICATION ENGINEERING, vol. 12, no. 45 , pp. 75–91, 2022, [Online]. Available: https://sid.ir/paper/963731/en

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