Dynamic characterization of a master–slave robotic manipulator using a hybrid grey wolf–whale optimization algorithm

2021 ◽  
pp. 107754632110034
Author(s):  
Ololade O Obadina ◽  
Mohamed A Thaha ◽  
Kaspar Althoefer ◽  
Mohammad H Shaheed
Keyword(s):  
Optimization Algorithm ◽  
Hybrid Algorithm ◽  
Robot Manipulator ◽  
Moving Average ◽  
Identification Problem ◽  
Whale Optimization Algorithm ◽  
Grey Wolf Optimizer ◽  
Parametric Modelling ◽  
Grey Wolf ◽  
Whale Optimization

This article presents a novel hybrid algorithm based on the grey-wolf optimizer and whale optimization algorithm, referred here as grey-wolf optimizer–whale optimization algorithm, for the dynamic parametric modelling of a four degree-of-freedom master–slave robot manipulator system. The first part of this work consists of testing the feasibility of the grey-wolf optimizer–whale optimization algorithm by comparing its performance with a grey-wolf optimizer, whale optimization algorithm and particle swarm optimization using 10 benchmark functions. The grey-wolf optimizer–whale optimization algorithm is then used for the model identification of an experimental master–slave robot manipulator system using the autoregressive moving average with exogenous inputs model structure. Obtained results demonstrate that the hybrid algorithm is effective and can be a suitable substitute to solve the parameter identification problem of robot models.

scholarly journals Spatial Prediction of Landslide Susceptibility Using GIS-Based Data Mining Techniques of ANFIS with Whale Optimization Algorithm (WOA) and Grey Wolf Optimizer (GWO)

2019 ◽  
Vol 9 (18) ◽  
pp. 3755 ◽  
Author(s):  
Wei Chen ◽  
Haoyuan Hong ◽  
Mahdi Panahi ◽  
Himan Shahabi ◽  
Yi Wang ◽  
...  
Keyword(s):  
Optimization Algorithm ◽  
Landslide Susceptibility ◽  
Heuristic Algorithms ◽  
Whale Optimization Algorithm ◽  
Economic Losses ◽  
Grey Wolf Optimizer ◽  
Grey Wolf ◽  
Prediction Ability ◽  
Inference System ◽  
Whale Optimization

The most dangerous landslide disasters always cause serious economic losses and human deaths. The contribution of this work is to present an integrated landslide modelling framework, in which an adaptive neuro-fuzzy inference system (ANFIS) is combined with the two optimization algorithms of whale optimization algorithm (WOA) and grey wolf optimizer (GWO) at Anyuan County, China. It means that WOA and GWO are used as two meta-heuristic algorithms to improve the prediction performance of the ANFIS-based methods. In addition, the step-wise weight assessment ratio analysis (SWARA) method is used to obtain the initial weight of each class of landslide influencing factors. To validate the effectiveness of the proposed framework, 315 landslide events in history were selected for our experiments and were randomly divided into the training and verification sets. To perform landslide susceptibility mapping, fifteen geological, hydrological, geomorphological, land cover, and other factors are considered for the modelling construction. The landslide susceptibility maps by SWARA, SWARA-ANFIS, SWARA-ANFIS-PSO, SWARA-ANFIS-WOA, and SWARA-ANFIS-GWO models are assessed using the measures of the receiver operating characteristic (ROC) curve and root-mean-square error (RMSE). The experiments demonstrated that the obtained results of modelling process from the SWARA to the SAWRA-ANFIS-GWO model were more accurate and that the proposed methods have satisfactory prediction ability. Specifically, prediction accuracy by area under the curve (AUC) of SWARA, SWARA-ANFIS, SWARA-ANFIS-PSO, SWARA-ANFIS-GWO, and SWARA-ANFIS-WOA models were 0.831, 0.831, 0.850, 0.856, and 0.869, respectively. Due to adaptability and usability, the proposed prediction methods can be applied to other areas for landslide management and mitigation as well as prevention throughout the world.

Enhanced whale optimization algorithm for sizing of hybrid wind/photovoltaic/diesel with battery storage in Algeria desert

2021 ◽  
pp. 0309524X2110565
Author(s):  
Adel Yahiaoui ◽  
Abdelhalim Tlemçani
Keyword(s):  
Renewable Energy ◽  
Optimization Algorithm ◽  
Optimization Problem ◽  
Energy System ◽  
Whale Optimization Algorithm ◽  
Grey Wolf Optimizer ◽  
Grey Wolf ◽  
Hybrid Renewable Energy System ◽  
Whale Optimization ◽  
Hybrid Renewable Energy

This paper focuses on the optimization and operation of the renewable energy power sources for electrification of isolated rural city in Algeria desert. For this purpose, a system composed by photovoltaic (PV), wind turbine (WT), diesel generator (DG), and battery bank (BB) as well as for storing the energy in the electrical form to meet the load. In the present paper we are interested in evolutionary algorithms for solving optimization problem of hybrid renewable energy system. A new meta-heuristic algorithm namely whale optimization algorithm (WOA) is used to solve optimization problem of cost of energy (COE) and total net present cost (TNPC) including reliability evaluation by using basic probabilistic concept in order to find Loss of Power Supply Probability (LPSP). The WOA mimics the social behavior of humpback whales. This algorithm is inspired by the bubble-net hunting strategy. Three recent algorithms, particle swarm optimization (PSO), grey wolf optimizer (GWO), and modified grey wolf optimizer (M-GWO) are also implemented in this work. For examining the accuracy, stability, and robustness of proposed optimization technique two case studies have been tested. The results of simulations and comparison with other methods exhibit high accuracy and validity of the proposed whale optimization algorithm to solve optimization problem of hybrid renewable energy system.

scholarly journals A Hybrid Algorithm Framework with Learning and Complementary Fusion Features for Whale Optimization Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-25 ◽  
Author(s):  
Wangyu Tong
Keyword(s):  
Optimization Algorithm ◽  
Hybrid Algorithm ◽  
Random Parameter ◽  
Whale Optimization Algorithm ◽  
Search Optimization ◽  
Engineering Design Problems ◽  
Whale Optimization ◽  
Adaptive Adjustment ◽  
Algorithm Framework ◽  
Fusion Features

It has been observed that the structure of whale optimization algorithm (WOA) is good at exploiting capability, but it easily suffers from premature convergence. Hybrid metaheuristics are of the most interesting recent trends for improving the performance of WOA. In this paper, a hybrid algorithm framework with learning and complementary fusion features for WOA is designed, called hWOAlf. First, WOA is integrated with complementary feature operators to enhance exploration capability. Second, the proposed algorithm framework adopts a learning parameter lp according to adaptive adjustment operator to replace the random parameter p. To further verify the efficiency of the hWOAlf, the DE/rand/1 operator of differential evolution (DE) and the mutate operator of backtracking search optimization algorithm (BSA) are embedded into WOA, respectively, to form two new algorithms called WOA-DE and WOA-BSA under the proposed framework. Twenty-three benchmark functions and six engineering design problems are employed to test the performance of WOA-DE and WOA-BSA. Experimental results show that WOA-DE and WOA-BSA are competitive compared with some state-of-the-art algorithms.

scholarly journals Grey Wolf and Weighted Whale Algorithm Optimized IT2 Fuzzy Sliding Mode Backstepping Control with Fractional-Order Command Filter for a Nonlinear Dynamic System

2021 ◽  
Vol 11 (2) ◽  
pp. 489
Author(s):  
Seongik Han
Keyword(s):  
Fuzzy Logic ◽  
Fractional Order ◽  
Optimization Algorithm ◽  
Sliding Mode ◽  
Fuzzy Logic System ◽  
Backstepping Control ◽  
Whale Optimization Algorithm ◽  
Grey Wolf ◽  
Whale Optimization ◽  
Logic System

In this study, a fractional-order sliding mode backstepping control method was proposed, which involved the use of a fractional-order command filter, an interval type-2 fuzzy logic system approximation method, and a grey wolf and weighted whale optimization algorithm for multi-input multi-output nonlinear dynamic systems. For designing the stabilizing controls of the backstepping control, a novel fractional-order sliding mode surface was suggested. Further, the transformed errors that occurred during the recursive design steps were easily compensated by the controllers constructed using a new fractional-order command filter. Thus, the differentiation issue of the virtual control in the conventional backstepping control design could be bypassed with a simpler controller structure. Subsequently, the unknown plant dynamics were approximated by an interval type-2 fuzzy logic system. The uncertainties, such as the approximation error and the external disturbance, were compensated by the fractional-order sliding mode control that was added in the backstepping controller. Furthermore, the controller parameters and the fuzzy logic system were optimized via a grey wolf and weighted whale optimization algorithm to obtain a faster tuning process and an improved control performance. Simulation results demonstrated that the fractional-order sliding mode backstepping control scheme provides enhanced control performance over the conventional backstepping control system. Thus, in this paper, a fractional-order sliding mode surface and fractional-order backstepping control are studied, which provide more rapid convergence and enhanced robustness. Furthermore, a hybrid grey wolf and weighted whale optimization algorithm are proposed to provide an improved learning performance than those of conventional grey wolf optimization and weighted whale optimization methods.

scholarly journals Application of Compound Control Method Based on WOA in Micropositioning Stage of SICM

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Huiting Wen ◽  
Xiaolong Lu ◽  
Shiping Zhao ◽  
Xiaoyu Liu ◽  
Yang Yang ◽  
...  
Keyword(s):  
Optimization Algorithm ◽  
Piezoelectric Ceramic ◽  
Control Method ◽  
Moving Average ◽  
Whale Optimization Algorithm ◽  
Hysteresis Curve ◽  
Backpropagation Algorithm ◽  
Whale Optimization ◽  
Average Control ◽  
Robust Adaptive

Positioning accuracy of micropositioning stage in scanning ion conductance microscopy is the key to obtain high-precision scanning model. Most piezoelectric ceramic micromotion platforms are used for that, and hysteresis characteristics are the main reason for the nonlinear characteristics of piezoelectric ceramics and the influence on the control accuracy. In order to solve this problem, backpropagation algorithm based on whale optimization algorithm is used to model the hysteresis, which is directly used as a feedforward controller to compensate the hysteresis effect, and the robust adaptive moving average control method is used for feedback control. The results show that the hysteresis model of backpropagation algorithm based on the whale optimization algorithm can fit the hysteresis curve well, and the maximum fitting error is 0.2050 μm, only 0.256%. By adopting feedforward and feedback, feedforward robust adaptive moving average control algorithm decreases the hysteresis from 17.64% to 2.51%, which enables the output of the piezoelectric ceramic controller to track the expected displacement well and makes it possible to improve the scanning accuracy.

scholarly journals Optimal integral sliding mode controller controller design for 2-RLFJ manipulator based on hybrid optimization algorithm

2022 ◽  
Vol 12 (1) ◽  
pp. 293
Author(s):  
Randa Jalaa Yahya ◽  
Nizar Hadi Abbas
Keyword(s):  
Optimization Algorithm ◽  
Sliding Mode ◽  
Search Algorithm ◽  
Gravitational Search Algorithm ◽  
Grey Wolf Optimizer ◽  
Sliding Mode Controller ◽  
Grey Wolf ◽  
Integral Sliding Mode ◽  
Whale Optimization ◽  
Nature Inspired Algorithm

A newly hybrid nature-inspired algorithm called HSSGWOA is presented with the combination of the salp swarm algorithm (SSA) and grey wolf optimizer (GWO). The major idea is to combine the salp swarm algorithm's exploitation ability with the grey wolf optimizer's exploration ability to generate both variants' strength. The proposed algorithm uses to tune the parameters of the integral sliding mode controller (ISMC) that design to improve the dynamic performance of the two-link flexible joint manipulator. The efficiency and the capability of the proposed hybrid algorithm are evaluated based on the selected test functions. It is clear that when compared to other algorithms like SSA, GWO, differential evolution (DE), gravitational search algorithm (GSA), particles swarm optimization (PSO), and whale optimization algorithm (WOA). The ISMC parameters were tuned using the SSA, which was then compared to the HSSGWOA algorithm. The simulation results show the capabilities of the proposed algorithm, which gives an enhancement percentage of 57.46% compared to the standard algorithm for one of the links, and 55.86% for the other.

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