Biogeography-Based Optimization for Robot Controller Tuning

2011 ◽  
pp. 162-181 ◽  
Author(s):  
Paul Lozovyy ◽  
George Thomas ◽  
Dan Simon
Keyword(s):  
Control System ◽  
Mathematical Models ◽  
Mobile Robots ◽  
Cost Function ◽  
Real World ◽  
Optimization Problems ◽  
Tracking Error ◽  
Robot Controller ◽  
Distributed Implementation ◽  
Error Cost

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.

scholarly journals DESIGN OF THE CONTROL SYSTEM BY MOVEMENT OF ROBOTS MOBILE GROUP IN CONDITIONS OF UNCERTAINTY

2018 ◽  
Vol 22 (4) ◽  
pp. 112-122
Author(s):  
A. R. Gaiduk ◽  
I. A. Kalyaev ◽  
S. G. Kapustyan ◽  
I. O. Shapovalov
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Mathematical Models ◽  
Mobile Robots ◽  
Control Systems ◽  
Transfer Functions ◽  
Digital Processing ◽  
Suggested Method ◽  
Analytical Design ◽  
Adaptive Control Systems

Many controlled plants, in particular mobile robots, solve various tasks in a priori uncertain conditions. In this connection their mathematical models necessary for creation of qualitative control systems are unknown. Therefore development of design methods of adaptive control systems is actuality. The big uncertainty of this control problem makes application of adaptive systems with identification by the most expedient. In article the new analytical design method of adaptive control systems by movement of mobile robots group in the uncertainty conditions is offered. This method is focused on the decision of a task of identification of the current mathematical models of robots with the subsequent design of a control system by movement of each robot. The suggested method can be realized automatically as required. It is developed on a basis of the markov method of identification, the method of analytical design of systems with control on output and impacts, and also the standard normalized transfer functions are used. As a whole this method allows to design of the adaptive control systems with desirable qualitative properties. Trial step functions of the small intensity and the original method of digital processing of the information are used at identification. Property of system invariancy of the markov parameters and their direct connection with factors of the discrete dynamic systems transfer functions are a basis of the method of digital processing of the information. It is supposed, that the mobile robots are full or can be stabilized at all possible values of their order and parameters. The suggested method can be used for creation of control systems by the various technical plants functioning in conditions of uncertainty.

scholarly journals MODELS AND DESIGNING METHODS FOR THE DYNAMICALLY RECONFIGURABLE GROUP CONTROL SYSTEM FOR MOBILE ROBOTS

2021 ◽  
Vol 63 (1) ◽  
pp. 130-139
Author(s):  
Aleksei V. Kozov ◽  
Keyword(s):  
Control System ◽  
Mathematical Models ◽  
Mobile Robots ◽  
Computer Aided Design ◽  
Discrete Event ◽  
Variable Structure ◽  
Design Methods ◽  
Variable Structure Systems ◽  
Dynamically Reconfigurable ◽  
Group Control

High adaptability is an important requirement for the control system over a group of mobile robots operating in a nondeterministic changing environment. The group control system must ensure that the group task is completed when the structure of the group or the environment changes. Such adaptability can be achieved through dynamic reconfiguration of the control system. The article discusses the mathematical models of a dynamically reconfigurable system from the standpoint of computer-aided design. A review of mathematical models of variable structure system, reconfigurable control systems and their design methods is presented. The paper deals with set-theoretic, analytical, discrete-event models of variable structure systems and methodologies of designing reconfigurable systems. It is shown that the existing design methods do not fully provide the required adaptability of designed group control system. The paper compares the group control system and the reconfigurable multiprocessor computing system and shows how to increase adaptability and autonomy of designed control system using principles of reconfigurable computing systems designing.

Control System for Suppressing Tracking Error Offset and Multiharmonic Disturbance in High-Speed Optical Disk Systems

2012 ◽  
Vol 132 (3) ◽  
pp. 347-356 ◽  
Author(s):  
Yuta Nabata ◽  
Tatsuya Nakazaki ◽  
Tokoku Ogata ◽  
Kiyoshi Ohishi ◽  
Toshimasa Miyazaki ◽  
...  
Keyword(s):  
Control System ◽  
High Speed ◽  
Tracking Error ◽  
Optical Disk

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Review of Network Flow Algorithms David P. Williamson

2021 ◽  
Vol 52 (1) ◽  
pp. 12-15
Author(s):  
S.V. Nagaraj
Keyword(s):  
Graduate Students ◽  
Real World ◽  
Network Flow ◽  
Network Flows ◽  
Optimization Problems ◽  
Capacity Constraints ◽  
Incoming Flow ◽  
Network Flow Problems ◽  
Flow Problems ◽  
Real World Problems

This book is on algorithms for network flows. Network flow problems are optimization problems where given a flow network, the aim is to construct a flow that respects the capacity constraints of the edges of the network, so that incoming flow equals the outgoing flow for all vertices of the network except designated vertices known as the source and the sink. Network flow algorithms solve many real-world problems. This book is intended to serve graduate students and as a reference. The book is also available in eBook (ISBN 9781316952894/US$ 32.00), and hardback (ISBN 9781107185890/US$99.99) formats. The book has a companion web site www.networkflowalgs.com where a pre-publication version of the book can be downloaded gratis.

scholarly journals New Challenges Arising in Engineering Problems with Fractional and Integer Order

2021 ◽  
Vol 5 (2) ◽  
pp. 35
Author(s):  
Haci Mehmet Baskonus ◽  
Luis Manuel Sánchez Ruiz ◽  
Armando Ciancio
Keyword(s):  
Mathematical Models ◽  
Real World ◽  
Integer Order ◽  
Engineering Problems ◽  
New Challenges ◽  
Real World Problems

Mathematical models have been frequently studied in recent decades in order to obtain the deeper properties of real-world problems [...]

An algebraic approach to N-soft sets with application in decision-making using TOPSIS

2021 ◽  
pp. 1-21
Author(s):  
Muhammad Shabir ◽  
Rimsha Mushtaq ◽  
Munazza Naz
Keyword(s):  
Decision Making ◽  
Mathematical Models ◽  
Real World ◽  
Algebraic Approach ◽  
Multi Criteria Decision Making ◽  
Commutative Monoids ◽  
Soft Sets ◽  
Algebraic Properties ◽  
Different Types ◽  
Selection Of

In this paper, we focus on two main objectives. Firstly, we define some binary and unary operations on N-soft sets and study their algebraic properties. In unary operations, three different types of complements are studied. We prove De Morgan’s laws concerning top complements and for bottom complements for N-soft sets where N is fixed and provide a counterexample to show that De Morgan’s laws do not hold if we take different N. Then, we study different collections of N-soft sets which become idempotent commutative monoids and consequently show, that, these monoids give rise to hemirings of N-soft sets. Some of these hemirings are turned out as lattices. Finally, we show that the collection of all N-soft sets with full parameter set E and collection of all N-soft sets with parameter subset A are Stone Algebras. The second objective is to integrate the well-known technique of TOPSIS and N-soft set-based mathematical models from the real world. We discuss a hybrid model of multi-criteria decision-making combining the TOPSIS and N-soft sets and present an algorithm with implementation on the selection of the best model of laptop.

Call for Manuscripts for the 2015 Focus Issue: Mathematical Modeling

2013 ◽  
Vol 18 (9) ◽  
pp. 571
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Models ◽  
Real World ◽  
The Real

This call for manuscripts is requesting articles that address how to use mathematical models to analyze, predict, and resolve issues arising in the real world.

Tracking-error model-based PDC control for mobile robots with acceleration limits

2009 ◽  
Author(s):  
El-Hadi Guechi ◽  
Jimmy Lauber ◽  
Michel Dambrine ◽  
Saso Blazic ◽  
Gregor Klancar
Keyword(s):  
Mobile Robots ◽  
Tracking Error ◽  
Error Model ◽  
Model Based
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