Determination of LQR Controller Parameters for Flexible Link Manipulator System Using Metaheuristic Algorithms

Yıl 2021, Cilt: 9 Sayı: 3, 735 - 752, 01.09.2021

Semih Özkaya , Çağlar Conker , Hasan Hüseyin Bilgiç

https://doi.org/10.36306/konjes.896087

Cited By: 3

Öz

The presented study provides detailed analysis of the LQR controller design for motion control of a flexible link manipulator system with the optimization of control parameters. The main objective of proposed optimization ensures that the flexible link manipulator system reaches the desired angular position as soon as possible and eliminates tip deflections. The Vibrating Particle System algorithm used for the first time in the adjustment of LQR weight matrices with this study. The efficiency of the proposed approach has been showing by comparing it with well-known optimization algorithms such as Genetic Algorithm and Artificial Bee Colony. Also, multi-objective function is proposed that considers the important parameters of the control response for flexible link manipulator systems in this study. Parameters of optimization algorithms have been determined by searching a wide search space and each algorithm was examined in terms of four different population values in order to reach results for 100 iterations. Furthermore, the configurations that obtained the best control results for optimization algorithms are compared with each other according to the theoretical and experimental studies performed. The article is organized in a manner that presents the required theoretical background and the implementation-related details for each of the optimization algorithms introduced.

Anahtar Kelimeler

Flexible link manipulator, Linear quadratic regulator, Genetic algorithm, Artificial bee colony, Vibrating particles system algorithm

ESNEK ROBOT KOL SİSTEMİ İÇİN LQR DENETLEYİCİ PARAMETRELERİNİN METASEZGİSEL ALGORİTMALAR KULLANILARAK BELİRLENMESİ

Öz

Sunulan çalışma, bir esnek robot kol sisteminin hareket kontrolüne yönelik LQR denetleyici tasarımı ile kontrol parametrelerinin optimizasyonu hakkında ayrıntılı analizler sunmaktadır. Optimizasyonun temel amacı esnek robot kol sisteminin istenilen açısal konuma en hızlı şekilde gelmesini sağlamak ve uç sapmalarını ortadan kaldırmaktır. Titreşimli Parçacık Sistemi algoritması ilk kez bu çalışma ile LQR ağırlık matrislerinin ayarlanmasında kullanılmıştır. Önerilen yaklaşımın etkinliği, Genetik Algoritma ve Yapay Arı Kolonisi gibi iyi bilenen optimizasyon algoritmaları ile karşılaştırılarak gösterilmiştir. Ayrıca çalışma kapsamında esnek robotik sistemler için kontrol yanıtının önemli parametrelerini dikkate alan bir çoklu amaç fonksiyonu da önerilmektedir. Optimizasyon algoritmalarına ait parametreler geniş bir arama uzayı taranarak belirlenmiş olup her algoritma dört farklı popülasyon değeri altında incelenerek 100 iterasyon için sonuçlar elde edilmiştir. Optimizasyon algoritmaları ile elde edilen en iyi kontrol sonuçları, esnek robot kol sistemine uygulanarak elde edilen sonuçlar teorik ve deneysel olarak karşılaştırılmıştır. Makale, tanıtılan optimizasyon algoritmalarının her biri için gerekli teorik arka plan ile uygulamaya yönelik ayrıntıları sunacak şekilde düzenlenmiştir.

Anahtar Kelimeler

Esnek robot kol, Doğrusal kuadratik regülatör, Genetik algoritma, Yapay arı kolonisi, Titreşimli parçacıklar sistemi algoritması

Kaynakça

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