Design of Fuzzy Controller for Robot Manipulators Using Bacterial Foraging Optimization Algorithm

作     者：Mickael Aghajarian Kourosh Kiani Mohammad Mehdi Fateh 

作者机构：Department of Electrical & Computer Engineering Semnan University Semnan Iran Department of Electrical & Robotic Engineering Shahrood University of Technology Shahrood Iran. 

出 版 物：《Journal of Intelligent Learning Systems and Applications》 (智能学习系统与应用（英文）)

年 卷 期：2012年第4卷第1期

页      码：53-58页

摘      要：Trial and error method can be used to find a suitable design of a fuzzy controller. However, there are many options including fuzzy rules, Membership Functions (MFs) and scaling factors to achieve a desired performance. An optimiza-tion algorithm facilitates this process and finds an optimal design to provide a desired performance. This paper presents a novel application of the Bacterial Foraging Optimization algorithm (BFO) to design a fuzzy controller for tracking control of a robot manipulator driven by permanent magnet DC motors. We use efficiently the BFO algorithm to form the rule base and MFs. The BFO algorithm is compared with a Particle Swarm Optimization algorithm (PSO). Performance of the controller in the joint space and in the Cartesian space is evaluated. Simulation results show superiority of the BFO algorithm to the PSO algorithm.

主 题 词：BFO Algorithm PSO Algorithm Fuzzy Control Robot Manipulator Tracking Control 

学科分类：08[工学] 081101[081101] 0811[工学-水利类] 081102[081102] 

D　O　I：10.4236/jilsa.2012.41005

馆 藏 号：203459772...