Heuristic Search Algorithms for Tuning PUMA 560 Fuzzy PID Controller

Authors: Sufian Ashraf Mazhari, Surendra Kumar

Abstract:

This paper compares the heuristic Global Search Techniques; Genetic Algorithm, Particle Swarm Optimization, Simulated Annealing, Generalized Pattern Search, genetic algorithm hybridized with Nelder–Mead and Generalized pattern search technique for tuning of fuzzy PID controller for Puma 560. Since the actual control is in joint space ,inverse kinematics is used to generate various joint angles correspoding to desired cartesian space trajectory. Efficient dynamics and kinematics are modeled on Matlab which takes very less simulation time. Performances of all the tuning methods with and without disturbance are compared in terms of ITSE in joint space and ISE in cartesian space for spiral trajectory tracking. Genetic Algorithm hybridized with Generalized Pattern Search is showing best performance.

Keywords: Controller tuning, Fuzzy Control, Genetic Algorithm, Heuristic search, Robot control.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1057215

References:

[1] R.Kelly, V.santibanez and A.Loria , "Control of Robot Manipulators in joint space, Springer" Advanced Textbooks in Control and Signal Processing, series 2005.
[2] Naganna G.E and Surendra Kumar," Conventional and intelligent controllers for robotic manipulator," IEEE International conference on industrial technology, pp. 424-428, Dec 2006.
[3] John T. Wen, Steve H. Murphy (1990), "PID control for robot manipulators"; CIRSSE Document #54 Rensselaer Polytechnic Institute, May 1990.
[4] Yaochu Jin , "Decentralized adaptive fuzzy control of robot manipulators , IEEE Transactions on Systems, Man, and Cybernetics, Part B: vol. 28, Issue: 1 ,Feb 1998.
[5] Hala Bezine , Nabil Derbel and Adel M. Alimi " Fuzzy control of robot manipulators: some issues on design and rule base size reduction," Engineering Applications of Artificial Intelligence , vol. 15, Issue 5, pp. 401-416,Sept 2002.
[6] Zong-Mu Yeh , "A systematic method for optimal design of Multivariable Fuzzy Logic Control System," IEEE Transaction on fuzzy systems, vol. 7, no. 5, Oct 1999.
[7] G.MKhoury, M.Saad, H.Y.Kannan, C.Asmar , "Fuzzy PID control of a Five DOF Robot Arm," Journal of intelligent and robotic systems, vol. 40,pp. 299-320, ISSN: 0921-0296, , July 2004.
[8] Petr Pivonka , "Comparative analysis of fuzzy PI/PD/PID Controller Based on Classical PID Controller approach", Proceedings of IEEE international conference on fuzzy systems, vol. 1, pp.541-546, May 2002.
[9] Lance D. Chambers , The Practical Handbook of Genetic Algorithms, Chapman & Hall/CRC, ISBN: 1584882409
[10] Kirkpatrick, C. D. Gelatt, Jr., M. P. Vecchi, "Optimization by simulated annealing," Science, vol. 220, No. 459813, pp. 671-680 , May 1983.
[11] R.A.Rutenber, "Simulated Annealing Algorithms: An Overview," IEEE Circuits and Devices, vol. 5, Issue 1, pp. 19-26, ISSN: 8755-3996, Jan 1989.
[12] Maurice Clerc , Particle Swarm Optimization, ISBN 10: 1-905209-04-5.
[13] Robert Michael Lewis and Virginia Torczon , "Pattern Search Methods For Linearly Constrained Minimization," Institute for Computer Applications in Science and Engineering, Report no.98-3, 1998.
[14] D.H. Kim, A. Abraham ,"A Hybrid Genetic Algorithm and Bacterial Foraging Approach for Global Optimization and Robust Tuning of PID Controller with Disturbance Rejection", Studies in Computational Intelligence (SCI) 75, Springer Berlin / Heidelberg, ISBN: 978-3-540- 73296-9, pp. 171-199, Aug 2007.
[15] Zahara E and Kao Y T , Hybrid Nelder-Mead simplex search and particle swarm optimization for Expert Systems with Applications, in press, doi:10.1016/j.eswa.2008.02.039.
[16] X.H. Shi , Y.C. Liang , H.P. Lee C. Lu and L.M. Wang ,An improved GA and a novel PSO-GA-based hybrid algorithm Information Processing Letters vol. 93, Issue 5, pp. 255-261, Mar 2005.
[17] B. Brian Armstrong, Oussama Khatib and Joel Burdick, "The explicit dynamic Model and Inertial Parameters of the Puma 560 Arms," Proceedings of IEEE International conference on Robotics and Automation, pp. 510-518, vol. 3, Apr 1986.
[18] T.J.Tarn, A.K.Bejczy, G.T.Marth and A.K.Ramadorai, "Performance Comparison of Four Manipulator Servo Schemes", IEEE control system magazine, vol. 13, Issue 1, pp. 22-29, ISSN: 0272-1708, ,Feb 1993.
[19] Shadia Elgazzar, "Efficient Kinematic Transformations for the PUMA 560 Robot," IEEE Journal of Robotics and Automation, vol. Ra-1, no. 3, pp. 142-151, ISSN: 0882-4967, Sept. 1985.
[20] Lee S.Wilfinger, "A comparison of Force control algorithm for Robots in contact with flexible environment", CIRSSE Report #135 Rensselaer Polytechnic Institute, Dec 1992.
[21] Matlab Fuzzy Logic Toolbox version 2.2.6