Performance improvement of manipulator actuated by pneumatic artificial muscles based on synergetic control and social spider optimisation algorithm
DOI:
https://doi.org/10.14311/AP.2024.64.0519Keywords:
PAM-actuated Manipulator, synergetic algorithm control theory, sliding mode controller, social spider optimization algorithmAbstract
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.
Downloads
References
R. M. Robinson, C. S. Kothera, R. M. Sanner, N. M. Wereley. Nonlinear control of robotic manipulators driven by pneumatic artificial muscles. IEEE/ASME Transactions on Mechatronics 21(1):55–68, 2016. https://doi.org/10.1109/TMECH.2015.2483520
H. Khajehsaeid, B. Esmaeili, R. Soleymani, A. Delkhosh. Adaptive back stepping fast terminal sliding mode control of robot manipulators actuated by pneumatic artificial muscles: continuum modelling, dynamic formulation and controller design. Meccanica 54(8):1203–1217, 2019. https://doi.org/10.1007/s11012-019-01012-4
M. Khaleel Ahmed, M. Majid Msallam. Enhancement performance of hydraulic actuators using PSO with FOPID controller. Journal of Mechatronics and Artificial Intelligence in Engineering 2(1):19–29, 2021. https://doi.org/10.21595/jmai.2021.21872
J. H. Lilly, L. Yang. Sliding mode tracking for pneumatic muscle actuators in opposing pair configuration. IEEE Transactions on Control Systems Technology 13(4):550–558, 2005. https://doi.org/10.1109/TCST.2005.847333
A. Al-Jodah, L. Khames. Second order sliding mode controller design for pneumatic artificial muscle. Journal of Engineering 24(1):159–172, 2018. https://doi.org/10.31026/j.eng.2018.01.11
W. Scaff, O. Horikawa, M. S. G. Tsuzuki. Pneumatic artificial muscle optimal control with simulated annealing. IFAC-PapersOnLine 51(27):333–338, 2018. https://doi.org/10.1016/j.ifacol.2018.11.618
S. Boudoua, M. Hamerlain, F. Hamerlain. Intelligent twisting sliding mode controller using neural network for pneumatic artificial muscles robot arm. In International Workshop on Recent Advances in Sliding Modes (RASM), pp. 1–6. 2015. https://doi.org/10.1109/RASM.2015.7154592
D. W. Repperger, C. A. Phillips, M. Krier. Controller design involving gain scheduling for a large scale pneumatic muscle actuator. In Proceedings of the 1999 IEEE Conference on Control Applications, vol. 1, pp. 285–290. 1999. https://doi.org/10.1109/cca.1999.806643
A. Enzevaee, M. Mailah, S. Kazi. Control of a single link robot arm actuated by pneumatic artificial muscles employing active force control and fuzzy logic via hardware-in-the-loop-simulation. Jurnal Mekanikal 36(2):66–85, 2013.
M. Farag, N. Z. Azlan. Adaptive backstepping position control of pneumatic anthropomorphic robotic hand. Procedia Computer Science 76:161–167, 2015. https://doi.org/10.1016/j.procs.2015.12.334
S. M. Mahdi, N. Q. Yousif, A. A. Oglah, et al. Adaptive synergetic motion control for wearable knee-assistive system: A rehabilitation of disabled patients. Actuators 11(7):176, 2022. https://doi.org/10.3390/act11070176
E. Nechadi, M. N. Harmas, N. Essounbouli, A. Hamzaoui. Optimal synergetic control based Bat algorithm for DC-DC boost converter. IFAC-PapersOnLine 49(12):698–703, 2016. https://doi.org/10.1016/j.ifacol.2016.07.792
A. Q. Al-Dujaili, A. J. Humaidi, Z. T. Allawi, M. E. Sadiq. Earthquake hazard mitigation for uncertain building systems based on adaptive synergetic control. Applied system innovation 6(2):34, 2023. https://doi.org/10.3390/asi6020034
H. Al-Khazraji, K. Albadri, R. Almajeez, A. J. Humaidi. Synergetic control-based sea lion optimization approach for position tracking control of ball and beam system. International Journal of Robotics and Control Systems 4(4):1547–1560, 2024. https://doi.org/10.31763/ijrcs.v4i4.1551
D. W. Repperger, K. R. Johnson, C. A. Phillips. VSC position tracking system involving a large scale pneumatic muscle actuator. In Proceedings of the 37th IEEE Conference on Decision and Control, vol. 4, pp. 4302–4307. 1998. https://doi.org/10.1109/cdc.1998.761982
İ. Haskara, C. Hatipoğlu, Ü. Özgüner. Variable Structure Systems: Towards the 21st Century, chap. Sliding Mode Compensation, Estimation and Optimization Methods in Automotive Control, pp. 155–174. 2007. https://doi.org/10.1007/3-540-45666-x_7
C.-J. Lin, T.-Y. Sie, W.-L. Chu, et al. Tracking control of pneumatic artificial muscle-activated robot arm based on sliding-mode control. Actuators 10(3):66, 2021. https://doi.org/10.3390/act10030066
S. A. Al-Samarraie, S. D. Salman. Backstepping nonlinear control for blood glucose based on sliding mode meal observer. Al-Nahrain Journal for Engineering Sciences 21(3):436–444, 2018. https://doi.org/10.29194/njes.21030436
A. Kolesnikov, R. Dougal, G. E. Veselov, et al. Synergetic control for electromechanical systems. In 15th International Symposium on Mathematical Theory of Networks and Systems, pp. 1–8. 2002.
M. Zhao, T. Wang. A sliding mode and synergetic control approaches applied to permanent magnet synchronous motor. Journal of Physics: Conference Series 1087(4):042012, 2018. https://doi.org/10.1088/1742-6596/1087/4/042012
A. F. Mutlak, A. J. Humaidi. Adaptive synergetic control for electronic throttle valve system. International Review of Applied Sciences and Engineering 15(2):211–220, 2024. https://doi.org/10.1556/1848.2023.00706
E. Cuevas, M. Cienfuegos, D. Zaldívar, M. Pérez-Cisneros. A swarm optimization algorithm inspired in the behavior of the social-spider. Expert Systems with Applications 40(16):6374–6384, 2013. https://doi.org/10.1016/j.eswa.2013.05.041
N. Rana, M. S. A. Latiff, S. M. Abdulhamid, H. Chiroma. Whale optimization algorithm: A systematic review of contemporary applications, modifications and developments. Neural Computing and Applications 32(20):16245–16277, 2020. https://doi.org/10.1007/s00521-020-04849-z
G. Dhiman, A. Kaur. Optimizing the design of airfoil and optical buffer problems using spotted hyena optimizer. Designs 2(3):28, 2018. https://doi.org/10.3390/designs2030028
H. Al-Khazraji, K. Al-Badri, R. Al-Majeez, A. J. Humaidi. Synergetic control design based sparrow search optimization for tracking control of driven-pendulum system. Journal of Robotics and Control (JRC) 5(5):1549–1556, 2024. https://doi.org/10.18196/jrc.v5i5.22893
A. J. Humaidi, A. H. Hameed. Robustness enhancement of MRAC using modification techniques for speed control of three phase induction motor. Journal of Electrical Systems 13(4):723–741, 2017.
A. J. Humaidi, E. N. Talaat, M. R. Hameed, A. H. Hameed. Design of adaptive observer-based backstepping control of cart-pole pendulum system. In Proceedings of 2019 3rd IEEE International Conference on Electrical, Computer and Communication Technologies (ICECCT), pp. 1–5. 2019. https://doi.org/10.1109/ICECCT.2019.8869179
A. S. Aljuboury, A. H. Hameed, A. R. Ajel, et al. Robust adaptive control of knee exoskeleton-assistant system based on nonlinear disturbance observer. Actuators 11(3):78, 2022. https://doi.org/10.3390/act11030078
A. J. Humaidi, S. K. Kadhim, A. S. Gataa. Optimal adaptive magnetic suspension control of rotary impeller for artificial heart pump. Cybernetics and Systems 53(1):141–167, 2022. https://doi.org/10.1080/01969722.2021.2008686
A. A. Oglah, M. M. Msallam. Real-time implementation of Fuzzy Logic Controller based on chicken swarm optimization for the ball and plate system. International Review of Applied Sciences and Engineering 13(3):263–271, 2021. https://doi.org/10.1556/1848.2021.00360
A. J. Humaidi, S. K. Kadhim, A. S. Gataa. Development of a novel optimal backstepping control algorithm of magnetic impeller-bearing system for artificial heart ventricle pump. Cybernetics and Systems 51(4):521–541, 2020. https://doi.org/10.1080/01969722.2020.1758467
A. J. Humaidi, M. R. Hameed. Design and performance investigation of block-backstepping algorithms for ball and arc system. In 2017 IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (ICPCSI), pp. 325–332. IEEE, 2017. https://doi.org/10.1109/ICPCSI.2017.8392309
A. J. Humaidi, M. R. Hameed, A. H. Hameed. Design of block-backstepping controller to ball and arc system based on zero dynamic theory. Journal of Engineering Science and Technology 13(7):2084–2105, 2018.
A. J. Humaidi, A. I. Abdulkareem. Design of augmented nonlinear PD controller of Delta/Par4-like Robot. Journal of Control Science and Engineering 2019(1):7689673, 2019. https://doi.org/10.1155/2019/7689673
W. R. Abdul-Adheem, A. T. Azar, I. K. Ibraheem, A. J. Humaidi. Novel active disturbance rejection control based on nested linear extended state observers. Applied Sciences 10(12):4069, 2020. https://doi.org/10.3390/app10124069
A. S. M. Al-Obaidi, A. Al-Qassar, A. R. Nasser, et al. Embedded design and implementation of mobile robot for surveillance applications. Indonesian Journal of Science and Technology 6(2):427–440, 2021. https://doi.org/10.17509/ijost.v6i2.36275
R. A. Kadhim, M. Q. Kadhim, H. Al-Khazraji, A. J. Humaidi. Bee algorithm based control design for two-links robot arm systems. IIUM Engineering Journal 25(2):367–380, 2024. https://doi.org/10.31436/iiumej.v25i2.3188
Downloads
Published
Issue
Section
License
Copyright (c) 2025 Alaq F. Hasan, Hadeer A. Raheem, Rajaa Hussein
This work is licensed under a Creative Commons Attribution 4.0 International License.
