scholarly journals Design of an Optimal Fuzzy Controller of an Under-Actuated Manipulator Based on Teaching-Learning-Based Optimization

2019 ◽  
Vol 13 (3) ◽  
pp. 166-172
Author(s):  
Mohammad Javad Mahmoodabadi ◽  
Amineh Yazdizadeh Baghini
Keyword(s):  
Control Method ◽  
Fuzzy Controller ◽  
Initial Conditions ◽  
Absolute Error ◽  
State Variables ◽  
Friction Forces ◽  
Time Integral ◽  
Tlbo Algorithm ◽  
Teaching Learning Based Optimization ◽  
Teaching Learning

Abstract In this paper, an optimal fuzzy controller based on the Teaching-Learning-Based Optimization (TLBO) algorithm has been presented for the stabilization of a two-link planar horizontal under-actuated manipulator with two revolute (2R) joints. For the considered fuzzy control method, a singleton fuzzifier, a centre average defuzzifier and a product inference engine have been used. The TLBO algorithm has been implemented for searching the optimum parameters of the fuzzy controller with consideration of time integral of the absolute error of the state variables as the objective function. The proposed control method has been utilized for the 2R under-actuated manipulator with the second passive joint wherein the model moves in the horizontal plane and friction forces have been considered. Simulation results of the offered control method have been illustrated for the stabilization of the considered robot system. Moreover, for different initial conditions, the effectiveness and the robustness of the mentioned strategy have been challenged.

scholarly journals Nonlinear Inertia Weighted Teaching-Learning-Based Optimization for Solving Global Optimization Problem

2015 ◽  
Vol 2015 ◽  
pp. 1-15 ◽  
Author(s):  
Zong-Sheng Wu ◽  
Wei-Ping Fu ◽  
Ru Xue
Keyword(s):  
Global Optimization ◽  
Optimization Problem ◽  
Random Number ◽  
Nonlinear Problems ◽  
Tlbo Algorithm ◽  
Teaching Learning Based Optimization ◽  
Linear And Nonlinear ◽  
Weighted Factor ◽  
Teaching Learning ◽  
Dynamic Inertia

Teaching-learning-based optimization (TLBO) algorithm is proposed in recent years that simulates the teaching-learning phenomenon of a classroom to effectively solve global optimization of multidimensional, linear, and nonlinear problems over continuous spaces. In this paper, an improved teaching-learning-based optimization algorithm is presented, which is called nonlinear inertia weighted teaching-learning-based optimization (NIWTLBO) algorithm. This algorithm introduces a nonlinear inertia weighted factor into the basic TLBO to control the memory rate of learners and uses a dynamic inertia weighted factor to replace the original random number in teacher phase and learner phase. The proposed algorithm is tested on a number of benchmark functions, and its performance comparisons are provided against the basic TLBO and some other well-known optimization algorithms. The experiment results show that the proposed algorithm has a faster convergence rate and better performance than the basic TLBO and some other algorithms as well.

scholarly journals Synthesis of Thinned Concentric Circular Antenna Arrays Using Modified TLBO Algorithm

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Zailei Luo ◽  
Xueming He ◽  
Xuedong Chen ◽  
Xin Luo ◽  
Xiaoqing Li
Keyword(s):  
Antenna Arrays ◽  
Optimization Problems ◽  
Extended Space ◽  
Half Wavelength ◽  
Tlbo Algorithm ◽  
Teaching Learning Based Optimization ◽  
Teaching Learning ◽  
Antenna Array Synthesis ◽  
Circular Antenna Arrays ◽  
Circular Antenna Array

Teaching-learning-based optimization (TLBO) algorithm is a new kind of stochastic metaheuristic algorithm which has been proven effective and powerful in many engineering optimization problems. This paper describes the application of a modified version of TLBO algorithm, MTLBO, for synthesis of thinned concentric circular antenna arrays (CCAAs). The MTLBO is adjusted for CCAA design according to the geometry arrangement of antenna elements. CCAAs with uniform interelement spacing fixed at half wavelength have been considered for thinning using MTLBO algorithm. For practical purpose, this paper demonstrated SLL reduction of thinned CCAAs in the whole regular and extended space other than the phi = 0° plane alone. The uniformly and nonuniformly excited CCAAs have been discussed, respectively, during the simulation process. The proposed MTLBO is very easy to be implemented and requires fewer algorithm specified parameters, which is suitable for concentric circular antenna array synthesis. Numerical results clearly show the superiority of MTLBO algorithm in finding optimum solutions compared to particle swarm optimization algorithm and firefly algorithm.

scholarly journals Design Optimization of Mechanical Components Using an Enhanced Teaching-Learning Based Optimization Algorithm with Differential Operator

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
B. Thamaraikannan ◽  
V. Thirunavukkarasu
Keyword(s):  
Differential Operator ◽  
Optimization Problems ◽  
Population Based ◽  
Optimal Solutions ◽  
Hollow Shaft ◽  
Optimization Task ◽  
Tlbo Algorithm ◽  
Teaching Learning Based Optimization ◽  
Mechanical Components ◽  
Teaching Learning

This paper studies in detail the background and implementation of a teaching-learning based optimization (TLBO) algorithm with differential operator for optimization task of a few mechanical components, which are essential for most of the mechanical engineering applications. Like most of the other heuristic techniques, TLBO is also a population-based method and uses a population of solutions to proceed to the global solution. A differential operator is incorporated into the TLBO for effective search of better solutions. To validate the effectiveness of the proposed method, three typical optimization problems are considered in this research: firstly, to optimize the weight in a belt-pulley drive, secondly, to optimize the volume in a closed coil helical spring, and finally to optimize the weight in a hollow shaft. have been demonstrated. Simulation result on the optimization (mechanical components) problems reveals the ability of the proposed methodology to find better optimal solutions compared to other optimization algorithms.

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