原创力文档design of fuzzy controller for robot manipulators using bacterial foraging optimization algorithm设计模糊控制器的机器人机械手使用细菌觅食优化算法.pdfVIP
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design of fuzzy controller for robot manipulators using bacterial foraging optimization algorithm设计模糊控制器的机器人机械手使用细菌觅食优化算法
Journal of Intelligent Learning Systems and Applications, 2012, 4, 53-58 53
/ 10.4236/jilsa.2012.41005 Published Online February 2012 (http://www.SciRP.org/journal/jilsa)
Design of Fuzzy Controller for Robot Manipulators Using
Bacterial Foraging Optimization Algorithm
1 1 2
Mickael Aghajarian , Kourosh Kiani , Mohammad Mehdi Fateh
1Department of Electrical Computer Engineering, Semnan University, Semnan, Iran; 2Department of Electrical Robotic Engi-
neering, Shahrood University of Technology, Shahrood, Iran.
Email: m_aghajarian@semnan.ac.ir, kourosh.kiani@aut.ac.ir, mmfateh@shahroodut.ac.ir
Received March 12th, 2011; revised April 26th, 2011; accepted May 10th, 2011
ABSTRACT
Trial and error method can be used to find a suitable design of a fuzzy controller. However, there are many options in-
cluding fuzzy rules, Membership Functions (MFs) and scaling factors to achieve a desired performance. An optimiza-
tion algorithm facilitates this process and finds an optimal design to provide a desired performance. This paper presents
a novel application of the Bacterial Foraging Optimization algorithm (BFO) to design a fuzzy controller for tracking
control of a robot manipulator driven by permanent magnet DC motors. We use efficiently the BFO algorithm to form
the rule base and MFs. The BFO algorithm is compared with a Particle Swarm Optimization algorithm (PSO). Per-
formance of the controller in the joint space and in the Cartesian space is evaluated. Simulation results show superiority
of the BFO algorithm to the PSO algorithm.
Keywords: BFO Algorithm; PSO Algorithm; Fuzzy Control; Robot Manipulator; Tracking Control
1. Introduction maximize the energy per unit time under considering all
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