An interval type-2 fuzzy logic controller design method for hydraulic actuators of a human-like robot by using improved drone squadron optimization. (5th December 2019)

• Record Type: Journal Article
• Authors: Dong, Haozhen; Gao, Liang; Shen, Pi; Li, Xinyu; Lu, Yan; Dai, Wenyan
• Is Part Of: International journal of advanced robotic systems. Volume 16:Number 6(2019:Nov./Dec.)
• Publication Date: 2019-12-05
• Subjects: Hydraulic actuator -- human-like robots -- interval type-2 fuzzy logic controller -- drone squadron optimization -- parameters optimization; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881419891553
• Languages: English
• ISSNs: 1729-8806

Abstract

Hydraulic actuator becomes an increasingly concerned driver for human-like robots. However, its dynamic performance under the control should be still further improved because hydraulic system is a typical nonlinearity system. Interval type-2 fuzzy logic controller is an advanced control method featured with high performance to deal with uncertain and nonlinear dynamics, so designing an interval type-2 fuzzy logic controller for the control of hydraulic is a feasible method. In this article, an improved drone squadron optimization-based approach is proposed to optimize interval type-2 fuzzy logic controller parameters. To verify the feasibility and priority of improved drone squadron optimization, a comparison on three different typical plants including proportional-derivative (PD) system, proportional-integral (PI) system, and PI nonlinear system between improved drone squadron optimization and other meta-heuristic algorithms is carried out. Simulation results demonstrate that improved drone squadron optimization not only gets an appropriate interval type-2 fuzzy logic controller for system control but also outperforms other popular algorithms in accuracy of performance.