34 documents found, page 1 of 4
Analysis and parameter adjustment of the RDPSO towards an understanding of robo...
Couceiro, Micael; M. L. Martins, Fernando; Rocha, Rui P.; Ferreira, N. M. FonsecaAlthough the well-known Particle Swarm Optimization (PSO) algorithm has been first introduced more than a decade ago, there is a lack of methods to tune the algorithm parameters in order to improve its performance. An extension of the PSO to multi-robot foraging has been recently proposed and denoted as Robotic Darwinian PSO (RDPSO), wherein sociobiological mechanisms are used to enhance the ability to escape f...
Fractional Order Darwinian Particle Swarm Optimization
Couceiro, Micael S.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.The Darwinian Particle Swarm Optimization (DPSO) is an evolutionary algorithm that extends the Particle Swarm Optimization (PSO) using natural selection, or survival-of-the-fittest, to enhance the ability to escape from local optima. This paper presents a method for controlling the convergence rate of the DPSO using fractional calculus (FC) concepts. The fractional order (FO) DPSO, denoted as FO-DPSO, is tested...
Cooperative Transportation of an Object based on Fractional Order Controllers
Figueiredo, Carlos M.; Couceiro, Micael S.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.Advanced control techniques have been used in simulations to overcome nonlinear phenomena in order to describe the performance of robots with two rotational (RR) degrees-of-freedom (dof). Given the current state-of-the-art, fractional order algorithms lead to better performance when compared to integer order controllers. Also, the development of simulation platforms allows evaluating the best control methodolog...
Modeling and Control of a Dragonfly-Like Robot
Couceiro, Micael S.; Ferreira, N. M. Fonseca; Machado, J. A. TenreiroDragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper it is studied the dynamics of a dragonfly-inspired robot. The system performance is analyzed in terms of time response and robustness. The development of computa...
Electric vehicle drive system with adaptive PID control
Couceiro, Micael S.; Figueiredo, Carlos M.; Lebres, C.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.The aim of this work is to implement an adaptive PID SISO feedback control to obtain a fine adjustment of an electric vehicle (EV) driving system. Our research work is done under different operating conditions, namely, variable battery voltage and variable load. A comparison between conventional and adaptive PID algorithms is established when they are applied to the above mentioned conditions. Experimental resu...
Fractional-order control of cooperative robots
Figueiredo, C. M.; Couceiro, Micael S.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.In this paper it is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators. The system performance is analyzed in the time and frequency domains. We analyze and compare different control methodologies such as the integer and the fractional-order PID presenting the simulation results assessing the performance of the proposed fractional-orde...
The Dynamic Modeling of a Bird Robot
Couceiro, Micael S.; Figueiredo, Carlos M.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.This paper presents the development of computational simulation and a robotic prototype based on the dynamic modeling of a robotic bird. The study analyze the bird flight with different strategies and algorithms of control. The results are positive for the construction of flying robots and a new generation of airplanes developed to the similarity of flying animals. A bird robot prototype was implemented based o...
Control optimization of a robotic bird
Couceiro, M. S.; Ferreira, N. M. Fonseca; Mendes, R.; Pires, E. J. Solteiro; Machado, J. A. TenreiroIn this paper it is studied the modeling and control of a robotic bird. The results are positive for the design and construction of flying robots and a new generation of airplanes developed to the similarity of flying animals. Once implemented the dynamic models studied, we will study different movement planning routines and the dynamic stability to adopt, the development of computational simulation based on th...
Analysis and control of a dragonfly-inspired robot
Couceiro, Micael S.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.Dragonflies demonstrate unique and superior flight performances than most of the other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper it is studied the dynamics of a dragonfly-inspired robot. The system performance is analyzed in terms of time response and robustness. The development of computa...
Fractional-order control of a robotic bird
Couceiro, Micael S.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.In this paper it is studied the relation between the angle of attack and the velocity of the bird, the tail influence over the bird trajectory, the gliding and the flapping flight in a closed loop with fractional order controllers. The results are positive for the design and construction of flying robots having similarities with flying animals. The development of computational simulation based on the dynamic of...