Biogeography-Based Optimization for Robot Controller Tuning
نویسنده
چکیده
This research involves the development of an engineering test for a newly-developed evolutionary algorithm called biogeography-based optimization (BBO), and also involves the development of a distributed implementation of BBO. The BBO algorithm is based on mathematical models of biogeography, which describe the migration of species between habitats. BBO is the adaptation of the theory of biogeography for the purpose of solving general optimization problems. In this research, BBO is used to tune a proportional-derivative control system for real-world mobile robots. The authors show that BBO can successfully tune the control algorithm of the robots, reducing their tracking error cost function by 65% from nominal values. This chapter focuses on describing the hardware, software, and the results that have been obtained by various implementations of BBO. DOI: 10.4018/978-1-60960-551-3.ch007
منابع مشابه
Fuzzy Robot Controller Tuning with Biogeography-Based Optimization
Biogeography-based optimization (BBO) is an evolutionary algorithm (EA) based upon the models of biogeography, which describe the relationship between habitat suitability and the migration of species across habitats. In this work, we apply BBO to the problem of tuning the fuzzy tracking controller of mobile robots. This is an extension of previous work, in which we used BBO to tune a proportion...
متن کاملCoordinated Design of PSS and SSSC Damping Controller Considering Time Delays using Biogeography-based Optimization Algorithm
In this paper, a consistent pattern with the optimal coordinated design of PSS and SSSC controller to improve the damping of low frequency oscillations is shown. In this design, sensing and signal transmission time delays are considered as effectiveness parameters. The design problem has been considered an optimization problem and biogeography-based optimization (BBO) algorithm is used for sear...
متن کاملOffline Auto-Tuning of a PID Controller Using Extended Classifier System (XCS) Algorithm
Proportional + Integral + Derivative (PID) controllers are widely used in engineering applications such that more than half of the industrial controllers are PID controllers. There are many methods for tuning the PID parameters in the literature. In this paper an intelligent technique based on eXtended Classifier System (XCS) is presented to tune the PID controller parameters. The PID controlle...
متن کاملMulti Objective Optimization of Vehicle Active Suspension System Using Debbo Based Pid Controller
This paper proposes the Multi Objective Optimization (MOO) of Vehicle Active Suspension System (VASS) with a hybrid Differential Evolution (DE) based Biogeography-Based Optimization (BBO) (DEBBO) for the parameter tuning of Proportional Integral Derivative (PID) controller. Initially a conventional PID controller, secondly a BBO, an rising nature enthused global optimization procedure based on ...
متن کاملA New Biogeography-based Optimization Approach Based on Shannon-wiener Diversity Index to Pid Tuning in Multivariable System
Abstract. Proportional-integral-derivative (PID) control is the most popular control architecture used in industrial problems. Many techniques have been proposed to tune the gains for the PID controller. Over the last few years, as an alternative to the conventional mathematical approaches, modern metaheuristics, such as evolutionary computation and swarm intelligence paradigms, have been given...
متن کامل