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This paper presents a Teacher Learning Based Optimization (TLBO) approach to tune the backstepping controller for effective control of a single-link flexible-joint manipulator. To assess the relative performance of TLBO, comparative studies have been carried out with the two other popular optimization techniques namely genetic algorithm and cuckoo search algorithm. The integral absolute error was...
A comparative study of the performance of three optimization techniques, namely Cuckoo Search Algorithm (CSA), Flower Pollination Algorithm (FPA) and Genetic Algorithm (GA), is presented in this paper for tuning the gains of Self Organizing Fuzzy Controller (SOFC) applied to a two link planar rigid robotic manipulator. SOFC is an intelligent adaptive fuzzy logic control technique generally used to...
The robotic manipulators have extensively been used in many industry like manufacturing, assembly etc., space and medical applications for the purpose of pick and place, positioning and path following etc. This requires accurate control of an end-effector of robotic manipulators as these are Multi-Input Multi-Output (MIMO), nonlinear and coupled systems. Being complex in nature tuning of the controllers...
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