Bat algorithm based control to decrease the control energy consumption and modified bat algorithm based control to increase the trajectory tracking accuracy in robots
From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease...
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| Published in | Neural networks Vol. 161; pp. 437 - 448 |
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| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
United States
Elsevier Ltd
01.04.2023
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0893-6080 1879-2782 1879-2782 |
| DOI | 10.1016/j.neunet.2023.02.010 |
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| Abstract | From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots.
•A bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain.•A modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain.•The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots. |
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| AbstractList | From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots.
•A bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain.•A modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain.•The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots. From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots. From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots.From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots. |
| Author | Rubio, José de Jesús |
| Author_xml | – sequence: 1 givenname: José de Jesús orcidid: 0000-0002-2005-5979 surname: Rubio fullname: Rubio, José de Jesús email: rubio.josedejesus@gmail.com organization: Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, Ciudad de México, 02250, Mexico |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/36805260$$D View this record in MEDLINE/PubMed |
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| Keywords | Control energy consumption Trajectory tracking accuracy Modified bat algorithm based control Robots Simplex algorithm based control Bat algorithm based control |
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| SubjectTerms | Algorithms Bat algorithm based control Control energy consumption Modified bat algorithm based control Physical Phenomena Robotics Robots Simplex algorithm based control Trajectory tracking accuracy |
| Title | Bat algorithm based control to decrease the control energy consumption and modified bat algorithm based control to increase the trajectory tracking accuracy in robots |
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