System Identification I

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Biomechanics And Motor Control Of Human Movement

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Because of successful implementations and high intensity, metaheuristic research has been extensively reported in literature, which covers algorithms, applications, comparisons, and analysis. Though, little has been evidenced on insightful analysis of metaheuristic performance issues, and it is still a “black box” that why certain metaheuristics perform better on specific optimization problems and not as good on others. The performance related analyses performed on algorithms are mostly quantitative via performance validation metrics like mean error, standard deviation, and co-relations have been used. Moreover, the performance tests are often performed on specific benchmark functions—few studies are those which involve real data from scientific or engineering optimization problems. In order to draw a comprehensive picture of metaheuristic research, this paper performs a survey of metaheuristic research in literature which consists of 1222 publications from year 1983 to 2016 (33 years). Based on the collected evidence, this paper addresses four dimensions of metaheuristic research: introduction of new algorithms, modifications and hybrids, comparisons and analysis, and research gaps and future directions. The objective is to highlight potential open questions and critical issues raised in literature. The work provides guidance for future research to be conducted more meaningfully that can serve for the good of this area of research.

Metaheuristic research: a comprehensive survey

Over the last few decades, extensive use of flexible manipulators in various robotic applications has made it as one of the research interests for many scholars over the world. Recent studies on the modeling, sensor systems and controllers for the applications of flexible robotic manipulators are reviewed in order to complement the previous literature surveyed by Benosman & Vey (Robotica 22:533---545, 2004) and Dwivedy & Eberhard (Mech. Mach. Theory 41:749---777, 2006) . A brief introduction of the essential modeling techniques is first presented, followed by a review of the practical alternatives of sensor systems that can help scientists or engineers to choose the appropriate sensors for their applications. It followed by the main goal of this paper with a comprehensive review of the control strategies for the flexible manipulators and flexible joints that were studied in recent literatures. The issues for controlling flexible manipulators are highlighted. Most of the noteworthy control techniques that were not covered in the recent surveys in references (Benosman & Vey Robotica 22:533---545, 2004; Dwivedy & Eberhard Mech. Mach. Theory 41:749---777, 2006) are then reviewed. It concludes by providing some possible issues for future research works.

Review of Control and Sensor System of Flexible Manipulator

The objective of this paper is to compare the time specification performance between two conventional controllers for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart’s position. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. Two controllers are presented such as Linear‐Quadratic‐Regulator (LQR) and Proportional‐Integral‐Derivatives (PID) controllers for controlling the linearized system of inverted pendulum model. Simulation study has been done in Matlab simulink environment shows that both controllers are capable to control multi output inverted pendulum system successfully. The result shows that LQR produced better response compared to PID control strategies and is presented in time domain.

Performance comparison between lqr and pid controllers for an inverted pendulum system

This paper presents the development of an improved spiral dynamic optimization algorithm with application to nonparametric fuzzy logic modeling of a twin rotor system (TRS). The spiral motion and dynamic step size are generated by a spiral model that produces unique exploration and exploitation strategies of a spiral dynamic algorithm (SDA). However, the algorithm is subjected to settling into local optima at the end of the search process, due to insufficient exploration throughout the search area. An elimination-dispersal strategy of a bacterial foraging algorithm is adopted to solve the problem. The proposed strategy is validated with various benchmark functions and a nonparametric test analysis is performed to evaluate its significant achievement in comparison to the SDA. Moreover, nonlinear dynamic modeling of a TRS in hovering mode is presented and the results show the effectiveness of the proposed algorithm to solve real-world problems. The result of the modeling work is presented in both time-domain and frequency-domain. It shows how the fuzzy model optimization represents the characteristic behavior of the TRS very well.

An Improved Spiral Dynamic Optimization Algorithm With Engineering Application

This paper presents a hybrid optimization algorithm, referred to as hybrid spiral dynamics bacterial chemotaxis (HSDBC) algorithm. HSDBC synergizes bacterial foraging algorithm (BFA) chemotaxis strategy and spiral dynamics algorithm (SDA). The original BFA has higher convergence speed while SDA has better accuracy and stable convergence when approaching the optimum value. This hybrid approach preserves the strengths of BFA and SDA and thus has the capability of producing better results. Moreover, it has simple structure, hence reduced computational cost. Several unimodal and multimodal benchmark functions are employed to test the algorithm in finding the global optimum point. Furthermore, the proposed algorithm is tested in the design of PD controller for a flexible manipulator system. The results show that the HSDBC outperforms SDA and BFA in all test functions and successfully optimizes the PD controller.

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ukaccc-2012/UKACC%20Control-Papers/129-Paper%20175.pdf

A novel hybrid spiral dynamics bacterial chemotaxis algorithm for global optimization with application to controller design

The raised complicatedness of the dynamics of a robot manipulator considering joint elasticity makes conventional model‐based control strategies complex and hard to synthesize. This paper presents investigations into the development of hybrid intelligent control schemes for the trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a collocated proportional‐derivative (PD)-type Fuzzy Logic Controller (FLC) is first developed for the tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non‐collocated Fuzzy Logic Controller, a non‐collocated proportional‐integral‐derivative (PID)and an input-shaping scheme for the vibration reduction of the flexible joint system. The positive zero‐vibration‐derivative‐derivative (ZVDD) shaper is designed based on the properties of the system. The implementation result of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the hybrid control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.

https://journals.sagepub.com/doi/pdf/10.5772/52562

Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator

The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Linear Quadratic Regulator (LQR) and PID-PID controllers for a highly nonlinear 2–wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final model is then represented in statespace form and the system suffers from mismatched condition. Two system responses namely the robot position and robot angular position are obtained. The performances of the LQR and PID-PID controllers are examined in terms of input tracking and disturbances rejection capability. Simulation results of the responses of the nonlinear 2–wheels balancing robot are presented in time domain. A comparative assessment of both control schemes to the system performance is presented and discussed. Keywords—PID, LQR, Two-wheels balancing robot.

Ahmad Nor Kasruddin Nasir

Papers

Performance comparison between lqr and pid controllers for an inverted pendulum system

An Improved Spiral Dynamic Optimization Algorithm With Engineering Application

A novel hybrid spiral dynamics bacterial chemotaxis algorithm for global optimization with application to controller design

Composite Fuzzy Logic Control Approach to a Flexible Joint Manipulator

The Control of a Highly Nonlinear Two-wheels Balancing Robot: A Comparative Assessment between LQR and PID-PID Control Schemes