A three-stage PSO-based methodology for tuning an optimal PD-controller for robotic arm manipulators

This paper introduces an intelligent machining system (IMS) using an adaptive-network-based fuzzy inference system (ANFIS) predictor and the particle swarm optimization (PSO) algorithm with a hybrid objective function. The proposed IMS provides suitable machining parameters for the users, to satisfy different machining requirements such as accuracy, surface smoothness, and speed. First, the key computer numerical control parameters are selected, and the actual trajectories under different machining parameters obtained by linear scales are collected. These data are analyzed to obtain the machining time, contouring error, and tracking error, corresponding to the speed, milling accuracy, and surface smoothness, respectively. Second, a data-driven approach using ANFIS is established to obtain the corresponding relationship model between the machining parameters and three aforementioned performance indices. Subsequently, to establish the IMS, we combine the trained ANFIS model and establish a hybrid objective function optimization problem solved by PSO algorithm according the specific requirement of the user. Finally, the performance and effectiveness of the proposed machining system is demonstrated by experimental practical machining.

This paper present an optimal Fractional Order PID (FOPID) controller based on Particle Swarm Optimization (PSO) for controlling the trajectory tracking of Wheeled Mobile Robot(WMR).The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories. PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

The particle swarm optimization (PSO) algorithm presents a new way for finding optimal solutions of complex optimization problems. In this paper a modified particle swarm optimization algorithm is presented. We modify the PSO algorithm in some aspects. Firstly, a contractive factor is introduced to the position update equation, and the particles are limited in search region. A new strategy for updating velocity is then adopted, in which the velocity is weakened linearly. Thirdly, using an idea of intersecting two modified PSO algorithms. Finally, adding an item of integral control in the modified algorithm can improve its global search ability. Based on these strategies, we proposed a new PSO algorithm named crossed PSO algorithm. Simulation results show that the crossed PSO is superior to the original PSO algorithm and can get overall promising performance over a wide range of problems.

Neural Network system for SoC is one topic in the world. Recently, SoC began to combine AI technique by Python. When developers consider Intelligent system on SoC, the co-design software and hardware are significant. In this case, small devices and embedded system are target system. For IoT, those techniques will grow up in the world. Those cases, avoiding premature convergence while keeping performance is a challenge in training the neural network, especially in a case of large NNs or a large number of training data. In this case, one problem is a huge memory and processing power. For tiny memory and processing system as SoC, we propose an improved particle swarm optimization (PSO) algorithm called the PSOseed2 algorithm for training NN. The PSOseed2 algorithm solves the premature convergence of the standard PSO (SPSO) algorithm by slightly modifying the velocity update function without adding many computational tasks to the SPSO algorithm. We evaluated this algorithm on field programmable gate array (FPGA)-based NN and software-based NN and trained these NNs with different PSO algorithms that are SPSO, PSOseed, PSOseed2, and dissipative PSO. Experimental results with different datasets confirmed that the NNs trained by the proposed PSOseed2 algorithm had better recognition rates and lower global learning errors than the NN trained by other PSO algorithms. In this talk, I would like to talk those relational research in the world and our results and discussion.

Collaborative beamforming in wireless sensor networks using a novel particle swarm optimization algorithm variant

This paper presents simulation and control of synchronous reluctance motor (SynRM). The motor speed is controlled by using Traditional PID controller that have been used in cascaded form. The Particle Swarm Optimization (PSO) is used to find the optimal parameters of the PID controller. Lead-Lag controller introduce in the cascaded controller as a second stage of control. Space vector pulse width modulation (SVPWM) scheme proposed to control the motor by using variable input voltage. A comparison between the manually tuned and PSO tuned cascade controller shows that the PSO give amazing control characteristics for the motor speed and have advantage over the manually tuning controller

Aiming at navigation safety and energy consumption, a novel energy-efficient path planning and path following control approach in a complex sea environment is proposed based on particle swarm optimization algorithm. Firstly, the mathematical model of the USV movement and the mathematical model of the marine environment are established. Secondly, the electronic chart information and environmental information are extracted and converted into the data required for path planning, and then the data for the path planning is modeled. Thirdly, in terms of static obstacles in the navigation area, combined with the sea environmental conditions, the particle swarm optimization algorithm is used to obtain an energy-efficient path through proper objective function and constraints. The route is re-planed and adjusted in real time with the weather conditions change. Fourthly, the generated energy-efficient path is followed by the PID control method with the optimal control parameter by using particle swarm optimization. Finally, the effectiveness of the proposed algorithm is proved to improve the safety and energy economy of the USV through a series of simulation experiment.

The performances of Particle Swarm Optimization and Genetic Algorithm have been compared to develop a methodology for concurrent and integrated design of mechanical structure and controller of a 2-dof robotic manipulator solving tracking problems. The proposed design scheme optimizes various parameters belonging to different domains (that is, link geometry, mass distribution, moment of inertia, control gains) concurrently to design manipulator, which can track some given paths accurately with a minimum power consumption. The main strength of this study lies with the design of an integrated scheme to solve the above problem. Both real-coded Genetic Algorithm and Particle Swarm Optimization are used to solve this complex optimization problem. Four approaches have been developed and their performances are compared. Particle Swarm Optimization is found to perform better than the Genetic Algorithm, as the former carries out both global and local searches simultaneously, whereas the latter concentrates mainly on the global search. Controllers with adaptive gain values have shown better performance compared to the conventional ones, as expected.

In our previous research applied to the job shop scheduling problem (JSSP) for machine tool production, the multi-objective optimisation model based on the particle swarm optimization (PSO) research had an imbalance performance between the convergence rate and the convergence precision. In this article, a new hybrid algorithm using PSO and generic algorithm (GA) is proposed to solve this particular problem. In this new algorithm, named hybrid PSO-GA algorithm (HPGA), the PSO algorithm is redefined and modified by introducing genetic operators, i.e. the crossover operator and the mutation operator, to update the particles in the population. The HPGA is then applied in heavy machinery company with minimising machines’ makespan and minimising jobs’ tardiness as the two optimal objectives. The comparisons with actual application report have illustrated that the proposed HPGA can obtain higher quality of schedule solution for machine tool production. Furthermore, with solution quality and convergence rate as the two estimation measurements metrics, some comparisons are performed in order to illustrate that the HPGA has superiority over the PSO, GA and simulated annealing algorithm (SA). Results have indicated that, with the combination of the merits of PSO and GA, the proposed HPGA approach can achieve not only better solution quality but also faster convergence rate than the PSO, GA and SA, within a reasonable computation time for high dimensions JSSP.

In order to solve the problem of interaction between multiple evaluation indexes of seed metering performance under multiple factors of centralized seed feeding device, a multi-objective optimization of structure based on particle swarm optimization (PSO) algorithm was proposed in this paper. The wheat centralized seed feeding device was taken as the research object, and the experimental factors were cone angle of type hole, working speed and seed filling gap. The working process of wheat centralized seed feeding device was simulated by discrete element method (DEM). The average seed number of type hole, the variation coefficient of the average seed number of type hole, and the maximum tangential force between seed and seed feeding mechanism were selected as the evaluation indexes. Through the variance analysis of the evaluation indexes by the experimental factors, the optimization objective function was constructed. Using PSO algorithm, the multi-objective optimization was carried out for the wheat centralized seed feeding device. The optimization results show that the best structural combination parameters of the wheat centralized seed feeding device are the hole cone angle of 31.6° and the seed filling gap of 4.6 mm. The validity of the method was verified by simulation and field test. The results show that the PSO algorithm multi-objective optimization method proposed in this paper can provide a reference for the structural improvement and optimal design of the centralized seed feeding device. Keywords: centralized seed feeding device, multi-objective, optimization, PSO algorithm DOI: 10.25165/j.ijabe.20201306.5665 Citation: Wang Q Q, Li Z D, Wang W W, Zhang C L, Chen L Q, Wan L. Multi-objective optimization design of wheat centralized seed feeding device based on particle swarm optimization (PSO) algorithm. Int J Agric & Biol Eng, 2020; 13(6): 76–84.

This paper proposes a motion trajectory control method of underground intelligent scraper based on particle swarm optimization. The simulation model of whole system was established in simulink according to autonomous navigation bivariate PID control algorithm and scraper motion control model. The process of particle swarm optimization was designed based on MATLAB platform. The parameter optimization model of PID controller based on particle swarm optimization (PSO) algorithm is established. The parameters of PID controller are optimized, and the global position optimal solution is obtained. It obtained correlation curve of motion trajectory deviation through the experiment of motion trajectory of particle swarm optimization. The particle swarm optimization algorithm is proved to be very effective in controlling the trajectory of the intelligent scraper.

The maximum power point tracking (MPPT) system ensures that the solar cell operates at its maximum power point, which is the point at which it produces the most power for a given set of conditions. This study uses an artificial bee colony (ABC) algorithm and particle swarm optimization (PSO) algorithms to optimize the boost converter. The ABC and PSO algorithms help to optimize the boost converter by finding the best possible duty cycle and other parameters that maximize efficiency. The resulting duty cycle of 20% produced the highest efficiency of 78.26% obtained from the boost converter. A system-wide test was conducted between 9:00 and 11:10 WIB. In MPPT systems using boost converters with the PSO algorithm, the average power is 16.80 W, while in MPPT systems using boost converters with the ABC algorithm, the average power is 14.53 W. The novelty of the study discusses a system designed to optimize power by using a boost converter in order to increase power output from solar panels. The algorithms PSO and ABC are used to analyze the data from the PV and adjust the converter parameters to optimize the output in order to increase the efficiency of the system.

To solve the strong randomicity and slow convergence of the Particle Swarm Optimization(PSO) algorithms, two new particle’s position renewal formulas were analyzed on the basis of extrapolation in mathematics. A new modified PSO algorithms (called Leading PSO algorithms) was put forward. The Direct Torque Control(DTC) System was built in the environment of Matlab(Simulink). The weight and threshold values of BP Neural Network were trained using the modified PSO algorithms. Some disadvantages such as slow convergence speed and easily plunging into the local solution were avoided effectively. The simulation result shows that the system works well, and the rotor speed identifier has great static and dynamic performance.

To improve the simulation accuracy of disease prediction model, a modified hybrid algorithm combining BP neural network (BPNN) with particle swarm optimization (PSO) algorithm based on chaos theory optimization is proposed considering BPNN is easy to fall into the local extremum. The chaos theory is used to optimize PSO algorithm to overcome the premature convergence of the traditional PSO algorithm. Then, the improved CAPSO algorithm is used to train the BPNN, to make full use of the global search characteristic of PSO algorithm and the local search ability of BPNN. The fitness function of the PSO algorithm is used as the energy function, and the optimization method of the improved hybrid algorithm is selected according to the specified number of evolution. An optimized network model was used to predict the prevalence of coronary heart disease. Compared with other algorithms such as BP neural network, the results show that the proposed algorithm has high accuracy and can significantly improve the quality of prediction.

In this paper, we present a concept of a transistor level implementation of the Particle Swarm Optimization (PSO) algorithm that belongs to the group of unsupervised learning algorithms aimed at the design of artificial neural networks (ANNs). The algorithm exhibits an ability to search for an optimal solution in a multidimensional data space, in which many sub-optimal solutions may exist. The ANN that operates in accordance with the PSO algorithm is composed of a set of cooperating particles (agents) that explore an input data space and communicate information on the best found solution to other particles. The PSO algorithm is usually implemented in software. We in our investigations focus on its transistor level realization. Such an approach enables parallel data processing, in which the overall data rate only moderately depends on the number of particles. Most of the operations and components of such implemented PSO algorithm may be reused considering our former CMOS realizations of other self-organizing learning algorithms. This allowed us to assess main parameters of the PSO.