TY - JOUR
T1 - Bat algorithm based control to decrease the control energy consumption and modified bat algorithm based control to increase the trajectory tracking accuracy in robots
AU - Rubio, José de Jesús
N1 - Publisher Copyright:
© 2023 Elsevier Ltd
PY - 2023/4
Y1 - 2023/4
N2 - From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots.
AB - From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots.
KW - Bat algorithm based control
KW - Control energy consumption
KW - Modified bat algorithm based control
KW - Robots
KW - Simplex algorithm based control
KW - Trajectory tracking accuracy
KW - Bat algorithm based control
KW - Control energy consumption
KW - Modified bat algorithm based control;
KW - Robots
KW - Simplex algorithm based control
KW - Trajectory tracking accuracy
UR - http://www.scopus.com/inward/record.url?scp=85148011848&partnerID=8YFLogxK
U2 - 10.1016/j.neunet.2023.02.010
DO - 10.1016/j.neunet.2023.02.010
M3 - Artículo
C2 - 36805260
AN - SCOPUS:85148011848
SN - 0893-6080
VL - 161
SP - 437
EP - 448
JO - Neural Networks
JF - Neural Networks
ER -
