Hybrid spiral-bacterial foraging algorithm for a fuzzy control design of a flexible manipulator

Ahmad Nor Kasruddin, Nasir and Mohd Ashraf, Ahmad and Tokhi, M. Osman (2021) Hybrid spiral-bacterial foraging algorithm for a fuzzy control design of a flexible manipulator. Journal of Low Frequency Noise, Vibration and Active Control. pp. 1-19. ISSN 1461-3484 (Print), 2048-4046 (Online). (Published)

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A novel hybrid strategy combining a spiral dynamic algorithm (SDA) and a bacterial foraging algorithm (BFA) is presented in this article. A spiral model is incorporated into the chemotaxis of the BFA algorithm to enhance the capability of exploration and exploitation phases of both SDA and BFA with the aim to improve the fitness accuracy for the SDA and the convergence speed as well as the fitness accuracy for BFA. The proposed algorithm is tested with the Congress on Evolutionary Computation 2013 (CEC2013) benchmark functions, and its performance in terms of accuracy is compared with its predecessor algorithms. Consequently, for solving a complex engineering problem, the proposed algorithm is employed to obtain and optimise the fuzzy logic control parameters for the hub angle tracking of a flexible manipulator system. Analysis of the performance test with the benchmark functions shows that the proposed algorithm outperforms its predecessor algorithms with significant improvements and has a competitive performance compared to other well-known algorithms. In the context of solving a real-world problem, it is shown that the proposed algorithm achieves a faster convergence speed and a more accurate solution. Moreover, the time-domain response of the hub angle shows that the controller optimised by the proposed algorithm tracks the desired system response very well.

Item Type: Article
Additional Information: Indexed by Scopus
Uncontrolled Keywords: Bacterial foraging algorithm; Flexible manipulator system; PD-like fuzzy logic control; Spiral dynamic
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical and Electronic Engineering Technology
Depositing User: Mrs Norsaini Abdul Samat
Date Deposited: 11 Nov 2021 08:15
Last Modified: 11 Nov 2021 08:15
URI: http://umpir.ump.edu.my/id/eprint/32273
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