Bee Algorithm Based Control Design for Two-links Robot Arm Systems

Russul A. Kadhim; Mina Q. Kadhim; Huthaifa Al-Khazraji; Amjad J. Humaidi

doi:10.31436/iiumej.v25i2.3188

Authors

Russul A. Kadhim University of Technology, Iraq https://orcid.org/0000-0002-4342-8678
Mina Q. Kadhim University of Technology, Iraq https://orcid.org/0000-0002-8437-0740
Huthaifa Al-Khazraji University of Technology- Iraq https://orcid.org/0000-0002-6290-3382
Amjad J. Humaidi University of Technology, Iraq https://orcid.org/0000-0002-9071-1329

DOI:

https://doi.org/10.31436/iiumej.v25i2.3188

Keywords:

Control Design, Two-links Robot Arm System, Proportional Integral minus Proportional Derivative Controller, Nonlinear Proportional Derivative Controller, Bee Algorithm

Abstract

This paper presents a comparative study between two advance versions of the classical Proportional-Integral-Derivative (PID) controller including the Proportional Integral minus Proportional Derivative (PI-PD) controller and the Nonlinear Proportional Derivative (NPD) to manipulate the position of the two angulars of the two-links robot arm system and eliminate the effects of the load disturbances. The dynamic equations of the two-links robot arm system are obtained based on the Lagrange approach. To determine the best value of the adjustable coefficients of each controller, tuning process is converted to an optimization problem. Then, Bee Algorithm (BA) optimization technique is employed to find the best value of the adjustable coefficients of each controller. The computer simulation results based on MATLAB show the NPD-BA controller is outperform the PI-PD-BA controller in normal condition works. Furthermore, the NPD-BA demonstrates a substantial enhancement when the load disturbance is applied.

Downloads

Download data is not yet available.

Metrics

Metrics Loading ...

References

Baccouch M, Dodds S. (2020) A two-link robot manipulator: Simulation and control design. International Journal of Robotic Engineering, 5(2): 1-17. DOI: https://doi.org/10.35840/2631-5106/4128

Dersarkissian N, Jia R, Feitosa, DL. (2018) Control of a two-link robotic arm using fuzzy logic. In 2018 IEEE International Conference on Information and Automation (ICIA), pp: 481-486. DOI: https://doi.org/10.1109/ICInfA.2018.8812444

Velagic J, Hebibovic M, Lacevic B. (2005) On-Line Identification of a Robot Manipulator Using Neural Network with an Adaptive Learning Rate. IFAC Proceedings, 38(1):403-408. DOI: https://doi.org/10.3182/20050703-6-CZ-1902.01337

Li-jie C. (2011) Research on the nonlinear dynamical behavior of double pendulum. In 2011 International Conference on Mechatronic Science, Electric Engineering and Computer (MEC), pp. 1637-1640. DOI: https://doi.org/10.1109/MEC.2011.6025792

Mohammed AA, Eltayeb A. (2018) Dynamics and control of a two-link manipulator using PID and sliding mode control. In 2018 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE), pp. 1-5. DOI: https://doi.org/10.1109/ICCCEEE.2018.8515795

Guechi EH, Bouzoualegh S. Zennir Y, Blaži? S. (2018) MPC control and LQ optimal control of a two-link robot arm: A comparative study. Machines, 6(3): p.37. DOI: https://doi.org/10.3390/machines6030037

Bendimrad A, El Amrani A, El Amrani B. (2022) Optimization of the Performances of a Two-Joint Robotic Arm using Sliding Mode Control. International Journal of Automotive and Mechanical Engineering, 19(2): 9634-9646. DOI: https://doi.org/10.15282/ijame.19.2.2022.01.0743

Long Y, You J, Huang Y, Chen Z, Shi M. (2023) Robust Variable Structure PID Controller for Two-Joint Flexible Manipulator. In International Conference on Computing, Control and Industrial Engineering, Singapore: Springer Nature Singapore, pp. 133-144. DOI: https://doi.org/10.1007/978-981-99-2730-2_14

Shen Y. (2024) Robotic trajectory tracking control system based on fuzzy neural network. Measurement: Sensors, 31:101006. DOI: https://doi.org/10.1016/j.measen.2023.101006

Al-Khazraji H. (2022) Comparative study of whale optimization algorithm and flower pollination algorithm to solve workers assignment problem. International Journal of Production Management and Engineering, 10(1):91-98. DOI: https://doi.org/10.4995/ijpme.2022.16736

Al-Khazraji H, Nasser AR, Khlil S, (2022) An intelligent demand forecasting model using a hybrid of metaheuristic optimization and deep learning algorithm for predicting concrete block production. IAES International Journal of Artificial Intelligence, 11(2): 649. DOI: https://doi.org/10.11591/ijai.v11.i2.pp649-657

AL-Khazraji H, Cole C, Guo W. (2021) Optimization and simulation of dynamic performance of production–inventory systems with multivariable controls. Mathematics, 9(5): 568. DOI: https://doi.org/10.3390/math9050568

Mustafa N, Hashim FH. (2020) Design of a predictive pid controller using particle swarm optimization. International Journal of Electronics and Telecommunications, 66(4): 737-743. DOI: https://doi.org/10.24425/ijet.2020.134035

Mahmood ZN, Al-Khazraji H, Mahdi SM. (2023) PID-Based Enhanced Flower Pollination Algorithm Controller for Drilling Process in a Composite Material. In Annales de Chimie Science des Matériaux, 47(2): 91-96. DOI: https://doi.org/10.18280/acsm.470205

Mahdi SM, Raafat SM. (2021) Robust Interactive PID Controller Design for Medical Robot System. International Journal of Intelligent Engineering and Systems, 15 (1): 370-382. DOI: https://doi.org/10.22266/ijies2022.0228.34

Al-Khazraji H. Cole C, Guo W. (2018) Analysing the impact of different classical controller strategies on the dynamics performance of production-inventory systems using state space approach. Journal of Modelling in Management, 13(1): 211-235. DOI: https://doi.org/10.1108/JM2-08-2016-0071

Ozyetkin MM, Onat C, Tan N. (2020) PI-PD controller design for time delay systems via the weighted geometrical center method. Asian Journal of Control, 22(5): 1811-1826. DOI: https://doi.org/10.1002/asjc.2088

Peker F, Kaya I, (2017) Identification and real time control of an inverted pendulum using PI-PD controller. In 2017 21st International Conference on System Theory, Control and Computing (ICSTCC), pp. 771-776. DOI: https://doi.org/10.1109/ICSTCC.2017.8107130

Ouyang PR, Pano V, Tang J, Yue WH. (2018) Position domain nonlinear PD control for contour tracking of robotic manipulator. Robotics and Computer-Integrated Manufacturing, 51:14-24. DOI: https://doi.org/10.1016/j.rcim.2017.11.017

Huang H. (2002) Nonlinear PID controller and its applications in power plants. In Proceedings. International Conference on Power System Technology, 3, pp. 1513-1517. DOI: https://doi.org/10.1109/ICPST.2002.1067784

Mahmood ZN, Al-Khazraji H, Mahdi SM. (2023) Adaptive Control and Enhanced Algorithm for Efficient Drilling in Composite Materials. Journal Européen des Systèmes Automatisés, 56(3): 507-512. DOI: https://doi.org/10.18280/jesa.560319

Pham DT, Ghanbarzadeh A, Koc E, Otri S, Rahim S, Zaidi M. (2005) Bee algorithm. Technical Note: MEC 0501. Manufacturing Engineering Centre, Cardiff University, UK

Ahmed AK, Al-Khazraji H. (2023) Optimal control design for propeller pendulum systems using gorilla troops optimization. Journal Européen des Systèmes Automatisés, 56(4): 575-582. DOI: https://doi.org/10.18280/jesa.560407