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Published on: December 19, 2016
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Bat algorithm based control to decrease the control energy consumption and modified bat algorithm based control to
1Sección 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.
Summary
This study introduces bat algorithm-based robot control to optimize control gain. The proposed methods aim to reduce energy consumption and enhance trajectory tracking accuracy, outperforming simplex-based control.
Area of Science:
- Robotics
- Control Theory
- Artificial Intelligence
Background:
- Optimizing robot control gain is crucial for balancing trajectory tracking accuracy and energy consumption.
- The bat algorithm offers a random search approach for finding optimal control gains.
- Existing control methods may not sufficiently address both accuracy and energy efficiency.
Purpose of the Study:
- To propose a bat algorithm-based control strategy to minimize robot control energy consumption.
- To introduce a modified bat algorithm-based control for improving robot trajectory tracking accuracy.
- To compare the performance of the proposed bat algorithm controls against simplex-based control.
Main Methods:
- Developing a bat algorithm to identify optimal control gains for reduced energy usage.
- Modifying the bat algorithm to enhance trajectory tracking precision in robotic systems.
- Conducting comparative analyses of proposed bat algorithm controls and simplex-based control using two robots.
Main Results:
- The bat algorithm-based control effectively decreased control energy consumption in robots.
- The modified bat algorithm-based control significantly increased trajectory tracking accuracy.
- Both proposed bat algorithm controls demonstrated superior performance compared to simplex-based control in specific metrics.
Conclusions:
- Bat algorithm-based control is a viable method for optimizing robot control gain.
- The proposed strategies offer improved solutions for energy efficiency and trajectory tracking in robotics.
- Further research can explore advanced modifications of the bat algorithm for complex robotic applications.
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