A control approach for five bar linkage manipulator based on imperialist competitive algorithm

In this paper, computational intelligent methods are utilized in designing a Proportional-Integral-Derivative (PID) controller for a five bar linkage manipulator, which is a nonlinear, unstable and non-minimum phase system. The controller gains should be specified in a way to confront these problems and make the manipulator track the desired trajectory. A cost function is introduced the minimization of which is the key objective. Different optimization methods are applied to minimize the cost function through which the Imperialist Competitive Algorithm (ICA) obtains the best result. ICA has good characteristics in obtaining the global minimum of a cost function in comparison to other intelligent algorithms. Simulation results present the strength of ICA in minimizing step response features such as steady state error, overshoot, rise time, settling time and control signal.

[1]  M. A. Badamchizadeh,et al.  Optimization of data fusion method based on Kalman filter using Genetic Algorithm and Particle Swarm Optimization , 2010, 2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE).

[2]  I. Hassanzadeh,et al.  Control of a manipulator using shuffled complex evolution , 2009, 2009 International Conference on Electrical and Electronics Engineering - ELECO 2009.

[3]  Leandro dos Santos Coelho,et al.  Tuning of PID controller for an automatic regulator voltage system using chaotic optimization approach , 2009 .

[4]  Yuhui Shi,et al.  Particle swarm optimization: developments, applications and resources , 2001, Proceedings of the 2001 Congress on Evolutionary Computation (IEEE Cat. No.01TH8546).

[5]  Arpit Goel,et al.  PERFORMANCE COMPARISON OF PID AND FUZZY LOGIC CONTROLLER USING DIFFERENT DEFUZZIFICATION TECHNIQUES FOR POSITIONING CONTROL OF DC MOTORS , 2012 .

[6]  Mohammad Ali Badamchizadeh,et al.  A predictive controller based on dynamic matrix control for a non-minimum phase robot manipulator , 2012 .

[7]  Kamran Rezaie,et al.  Solving the integrated product mix-outsourcing problem using the Imperialist Competitive Algorithm , 2010, Expert Syst. Appl..

[8]  Caro Lucas,et al.  Imperialist competitive algorithm: An algorithm for optimization inspired by imperialistic competition , 2007, 2007 IEEE Congress on Evolutionary Computation.

[9]  Amin Hadidi,et al.  A new design approach for shell-and-tube heat exchangers using imperialist competitive algorithm (ICA) from economic point of view , 2013 .

[10]  Goldberg,et al.  Genetic algorithms , 1993, Robust Control Systems with Genetic Algorithms.

[11]  Mohammad Ali Badamchizadeh,et al.  Comparison of Genetic Algorithm and Particle Swarm Optimization for Data Fusion Method Based on Kalman Filter , 2010 .