Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm
The manipulator actuated by pneumatic artificial muscles (PAM) is a widely used type of robotic arm in industrial automation. However, its performance can be limited by non-linear dynamics and uncertainties in the system. To overcome these limitations, this paper proposes a synergetic control strat...
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| Format: | Article |
| Language: | English |
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CTU Central Library
2025-01-01
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| Series: | Acta Polytechnica |
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| Online Access: | https://ojs.cvut.cz/ojs/index.php/ap/article/view/9724 |
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| author | Alaq F. Hasan Hadeer A. Raheem Rajaa Hussein |
| author_facet | Alaq F. Hasan Hadeer A. Raheem Rajaa Hussein |
| author_sort | Alaq F. Hasan |
| collection | DOAJ |
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The manipulator actuated by pneumatic artificial muscles (PAM) is a widely used type of robotic arm in industrial automation. However, its performance can be limited by non-linear dynamics and uncertainties in the system. To overcome these limitations, this paper proposes a synergetic control strategy (SACT) to improve the performance of the SACT, a social spider optimisation algorithm (SSO) has been suggested for adjusting its parameters. To verify the performance of a PAM-actuated manipulator based on an optimal SACT controller, a computer simulation study was conducted using MATLAB software. Moreover, a comparison study between the optimal synergetic algorithm control theory and the optimal sliding mode controller (SMC) has been made in terms of robustness and transient behaviour characteristics. The provided simulation results have shown that the SACT controller exhibited quicker convergence towards the desired trajectory and maintained a lower steadystate error as compared to the SMC controller. Additionally, the SACT controller demonstrated more resilience to variations in parameters and showed more robust characteristics.
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| format | Article |
| id | doaj-art-0cb5292ebbdb4b8ba84d9dd7b49c7a78 |
| institution | Kabale University |
| issn | 1805-2363 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | CTU Central Library |
| record_format | Article |
| series | Acta Polytechnica |
| spelling | doaj-art-0cb5292ebbdb4b8ba84d9dd7b49c7a782025-01-14T10:10:10ZengCTU Central LibraryActa Polytechnica1805-23632025-01-0164610.14311/AP.2024.64.0519Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithmAlaq F. Hasan0Hadeer A. Raheem1Rajaa Hussein2Middle Technical University, Technical Engineering Collage Baghdad, Mechatronics Engineering, 8998+QHJ, Baghdad, IraqMiddle Technical University, Technical Engineering Collage Baghdad, Mechatronics Engineering, 8998+QHJ, Baghdad, IraqMiddle Technical University, Technical Engineering Collage Baghdad, Mechatronics Engineering, 8998+QHJ, Baghdad, Iraq The manipulator actuated by pneumatic artificial muscles (PAM) is a widely used type of robotic arm in industrial automation. However, its performance can be limited by non-linear dynamics and uncertainties in the system. To overcome these limitations, this paper proposes a synergetic control strategy (SACT) to improve the performance of the SACT, a social spider optimisation algorithm (SSO) has been suggested for adjusting its parameters. To verify the performance of a PAM-actuated manipulator based on an optimal SACT controller, a computer simulation study was conducted using MATLAB software. Moreover, a comparison study between the optimal synergetic algorithm control theory and the optimal sliding mode controller (SMC) has been made in terms of robustness and transient behaviour characteristics. The provided simulation results have shown that the SACT controller exhibited quicker convergence towards the desired trajectory and maintained a lower steadystate error as compared to the SMC controller. Additionally, the SACT controller demonstrated more resilience to variations in parameters and showed more robust characteristics. https://ojs.cvut.cz/ojs/index.php/ap/article/view/9724PAM-actuated Manipulatorsynergetic algorithm control theorysliding mode controllersocial spider optimization algorithm |
| spellingShingle | Alaq F. Hasan Hadeer A. Raheem Rajaa Hussein Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm Acta Polytechnica PAM-actuated Manipulator synergetic algorithm control theory sliding mode controller social spider optimization algorithm |
| title | Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm |
| title_full | Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm |
| title_fullStr | Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm |
| title_full_unstemmed | Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm |
| title_short | Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm |
| title_sort | performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm |
| topic | PAM-actuated Manipulator synergetic algorithm control theory sliding mode controller social spider optimization algorithm |
| url | https://ojs.cvut.cz/ojs/index.php/ap/article/view/9724 |
| work_keys_str_mv | AT alaqfhasan performanceimprovementofmanipulatoractuatedbypneumaticartificialmusclesbasedonsynergeticcontrolandsocialspideroptimisationalgorithm AT hadeeraraheem performanceimprovementofmanipulatoractuatedbypneumaticartificialmusclesbasedonsynergeticcontrolandsocialspideroptimisationalgorithm AT rajaahussein performanceimprovementofmanipulatoractuatedbypneumaticartificialmusclesbasedonsynergeticcontrolandsocialspideroptimisationalgorithm |