Improved DBO algorithm tunes fuzzy-PD controller for robot manipulator trajectory tracking
This article proposes a novel approach for trajectory tracking of a six degrees-of-freedom (6-DOF) collaborative robot manipulator using an adaptive fuzzy proportional derivative (PD) controller. Based on the dynamic modeling of the robot manipulator, the PD control law is designed, and the improved...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2025-04-01
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| Series: | Journal of Algorithms & Computational Technology |
| Online Access: | https://doi.org/10.1177/17483026251331506 |
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| _version_ | 1849337796341268480 |
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| author | Ma Haohao Azizan As’arry Li Chaoqun Mohd Idris Shah Ismail Hafiz Rashidi Ramli Aidin Delgoshaei M.Y.M. Zuhri |
| author_facet | Ma Haohao Azizan As’arry Li Chaoqun Mohd Idris Shah Ismail Hafiz Rashidi Ramli Aidin Delgoshaei M.Y.M. Zuhri |
| author_sort | Ma Haohao |
| collection | DOAJ |
| description | This article proposes a novel approach for trajectory tracking of a six degrees-of-freedom (6-DOF) collaborative robot manipulator using an adaptive fuzzy proportional derivative (PD) controller. Based on the dynamic modeling of the robot manipulator, the PD control law is designed, and the improved dung beetle optimization (DBO) algorithm is introduced using the good point set (GPS) method for population initialization and the sine strategy for convergence factor adjustment. Furthermore, a fuzzy adaptive strategy is developed to adjust the PD controller gain based on real-time errors. This article uses discrete Lyapunov iterative stability to analyze the global asymptotic stability of the robot closed-loop system. The experimental results verify that the DBO-fuzzy-PD controller is superior to the original PD controller. The ISE value is reduced from 3.4140 to 0.0384, and the IAE value is reduced from 1.9876 to 0.1843. The DBO-fuzzy-PD controller has better tracking accuracy and response speed than traditional PD. Experimental results show that the proposed DBO-fuzzy-PD controller significantly enhances the trajectory tracking performance of the 6-DOF collaborative robot manipulator. |
| format | Article |
| id | doaj-art-e6a0d4178e154a38a18f5116e305f3e5 |
| institution | Kabale University |
| issn | 1748-3026 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Journal of Algorithms & Computational Technology |
| spelling | doaj-art-e6a0d4178e154a38a18f5116e305f3e52025-08-20T03:44:35ZengSAGE PublishingJournal of Algorithms & Computational Technology1748-30262025-04-011910.1177/17483026251331506Improved DBO algorithm tunes fuzzy-PD controller for robot manipulator trajectory trackingMa Haohao0Azizan As’arry1Li Chaoqun2Mohd Idris Shah Ismail3Hafiz Rashidi Ramli4Aidin Delgoshaei5M.Y.M. Zuhri6 Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, , Serdang, Malaysia Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, , Serdang, Malaysia Faculty of Mechatronics and Automotive Engineering, , Tianshui, China Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, , Serdang, Malaysia Department of Electrical and Electronic Engineering, Faculty of Engineering, , Serdang, Malaysia Department of Mechanical and Manufacturing Engineering, Faculty of Engineering, , Serdang, Malaysia Laboratory of Biocomposite Technology, Institute of Tropical Forestry and Forest Product (INTROP), University Putra Malaysia, Serdang, MalaysiaThis article proposes a novel approach for trajectory tracking of a six degrees-of-freedom (6-DOF) collaborative robot manipulator using an adaptive fuzzy proportional derivative (PD) controller. Based on the dynamic modeling of the robot manipulator, the PD control law is designed, and the improved dung beetle optimization (DBO) algorithm is introduced using the good point set (GPS) method for population initialization and the sine strategy for convergence factor adjustment. Furthermore, a fuzzy adaptive strategy is developed to adjust the PD controller gain based on real-time errors. This article uses discrete Lyapunov iterative stability to analyze the global asymptotic stability of the robot closed-loop system. The experimental results verify that the DBO-fuzzy-PD controller is superior to the original PD controller. The ISE value is reduced from 3.4140 to 0.0384, and the IAE value is reduced from 1.9876 to 0.1843. The DBO-fuzzy-PD controller has better tracking accuracy and response speed than traditional PD. Experimental results show that the proposed DBO-fuzzy-PD controller significantly enhances the trajectory tracking performance of the 6-DOF collaborative robot manipulator.https://doi.org/10.1177/17483026251331506 |
| spellingShingle | Ma Haohao Azizan As’arry Li Chaoqun Mohd Idris Shah Ismail Hafiz Rashidi Ramli Aidin Delgoshaei M.Y.M. Zuhri Improved DBO algorithm tunes fuzzy-PD controller for robot manipulator trajectory tracking Journal of Algorithms & Computational Technology |
| title | Improved DBO algorithm tunes
fuzzy-PD controller for robot manipulator trajectory tracking |
| title_full | Improved DBO algorithm tunes
fuzzy-PD controller for robot manipulator trajectory tracking |
| title_fullStr | Improved DBO algorithm tunes
fuzzy-PD controller for robot manipulator trajectory tracking |
| title_full_unstemmed | Improved DBO algorithm tunes
fuzzy-PD controller for robot manipulator trajectory tracking |
| title_short | Improved DBO algorithm tunes
fuzzy-PD controller for robot manipulator trajectory tracking |
| title_sort | improved dbo algorithm tunes fuzzy pd controller for robot manipulator trajectory tracking |
| url | https://doi.org/10.1177/17483026251331506 |
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