Optimization of a P/PI Cascade Motion Controller for a 3-DOF Delta Robot

An auto-tuning method for a Delta robot’s P/PI cascade motion controller using multi-objective optimization algorithm is proposed. The implemented control structure consists of two controllers: A feedforward controller based on a model of the inverse dynamics of the robot, and a cascade P/PI controller to compensate for unmodeled effects. The auto-tuning is achieved in the sense of optimizing the control parameters in three stages. In the first stage, the feedback control parameters are optimized after neglecting the feedforward control term. The goal is to minimize the position error in tracking an excitation trajectory, which is used as well to identify the dynamic model parameters in the second stage. After that, the feedforward compensation term is computed offline based on the desired trajectory. In the final stage, the P/PI parameters are optimized again after adding the feedforward controller. Experimental results on an industrial 3-dof Delta robot validates the efficiency of the proposed method

Intelligent swarm algorithms for optimizing nonlinear sliding mode controller for robot manipulator

This work introduces an accurate and fast approach for optimizing the parameters of robot manipulator controller. The approach of sliding mode control (SMC) was proposed as it documented an effective tool for designing robust controllers for complex high-order linear and nonlinear dynamic systems operating under uncertain conditions. In this work Intelligent particle swarm optimization (PSO) and social spider optimization (SSO) were used for obtaining the best values for the parameters of sliding mode control (SMC) to achieve consistency, stability and robustness. Additional design of integral sliding mode control (ISMC) was implemented to the dynamic system to achieve the high control theory of sliding mode controller. For designing particle swarm optimizer (PSO) and social spider optimization (SSO) processes, mean square error performances index was considered. The effectiveness of the proposed system was tested with six degrees of freedom robot manipulator by using (PUMA) robot. The iteration of SSO and PSO algorithms with mean square error and objective function were obtained, with best fitness for (SSO) =4.4876 -6 and (PSO)=3.4948 -4

Robust multi-objective optimization of safety barriers performance parameters for NaTech scenarios risk assessment and management

Safety barriers are to be designed to bring the largest benefit in terms of accidental scenarios consequences mitigation at the most reasonable cost. In this paper, we formulate the problem of the identification of the optimal performance parameters of the barriers that can at the same time allow for the consequences mitigation of Natural Technological (NaTech) accidental scenarios at reasonable cost as a Multi-Objective Optimization (MOO) problem. The MOO is solved for a case study of literature, consisting in a chemical facility composed by three tanks filled with flammable substances and equipped with six safety barriers (active, passive and procedural), exposed to NaTech scenarios triggered by either severe floods or earthquakes. The performance of the barriers is evaluated by a phenomenological dynamic model that mimics the realistic response of the system. The uncertainty of the relevant parameters of the model (i.e., the response time of active and procedural barriers and the effectiveness of the barriers) is accounted for in the optimization, to provide robust solutions. Results for this case study suggest that the NaTech risk is optimally managed by improving the performances of four-out-of-six barriers (three active and one passive). Practical guidelines are provided to retrofit the safety barriers design