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Title

Designing an adaptive fuzzy control for robot manipulators using PSO

Year: 1392
COI: JR_JADM-2-2_006
Language: EnglishView: 555
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Authors

f soleiman nouri - Department of Electrical Engineering and Robotics, University of Shahrood, Iran
m Haddad Zarif - Department of Electrical Engineering and Robotics, University of Shahrood, Iran
m.m fateh - Department of Electrical Engineering and Robotics, University of Shahrood, Iran

Abstract:

This paper presents a designing an optimal adaptive controller for tracking down the control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been used to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using a logic is proposed to increase the convergence speed. In this case, the performance of PSO algorithms such as an improved PSO (IPSO), an improved PSO using fuzzy logic (F-PSO), a linearly decreasing inertia weight of PSO (LWD-PSO) and a nonlinearly decreasing inertia weight of PSO (NDW-PSO) are with parameter accuracy and convergence speed. As a result, the simulation results show that the F-PSO approach presents a better performance in the tracking down the control of robot manipulators than other algorithms

Keywords:

Particle swarm optimization (PSO) , robot manipulators , adaptive controller , improved PSO using fuzzy logic (F-PSO) , integral square of errors (ISE)

Paper COI Code

This Paper COI Code is JR_JADM-2-2_006. Also You can use the following address to link to this article. This link is permanent and is used as an article registration confirmation in the Civilica reference:

https://civilica.com/doc/334737/

How to Cite to This Paper:

If you want to refer to this Paper in your research work, you can simply use the following phrase in the resources section:
soleiman nouri, f and Haddad Zarif, m and fateh, m.m,1392,Designing an adaptive fuzzy control for robot manipulators using PSO,https://civilica.com/doc/334737

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Type of center: دانشگاه دولتی
Paper count: 7,928
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