A novel improved elephant herding optimization for path planning of a mobile robot

Swarm intelligence algorithms have been in recent years one of the most used tools for planning the trajectory of a mobile robot. Researchers are applying those algorithms to find the optimal path, which reduces the time required to perform a task by the mobile robot. In this paper, we propose a new method based on the grey wolf optimizer algorithm (GWO) and the improved elephant herding optimization algorithm (IEHO) for planning the optimal trajectory of a mobile robot. The proposed solution consists of developing an IEHO algorithm by improving the basic EHO algorithm and then hybridizing it with the GWO algorithm to take advantage of the exploration and exploitation capabilities of both algorithms. The comparison of the IEHO-GWO hybrid proposed in this work with the GWO, EHO, and cuckoo-search (CS) algorithms via simulation shows its effectiveness in finding an optimal trajectory by avoiding obstacles around the mobile robot

Particle swarm optimization and spiral dynamic algorithm-based interval type-2 fuzzy logic control of triple-link inverted pendulum system: A comparative assessment

This paper presents investigations into the development of an interval type-2 fuzzy logic control (IT2FLC) mechanism integrated with particle swarm optimization and spiral dynamic algorithm. The particle swarm optimization and spiral dynamic algorithm are used for enhanced performance of the IT2FLC by finding optimised values for input and output controller gains and parameter values of IT2FLC membership function as comparison purpose in order to identify better solution for the system. A new model of triple-link inverted pendulum on two-wheels system, developed within SimWise 4D software environment and integrated with Matlab/Simulink for control purpose. Several tests comprising system stabilization, disturbance rejection and convergence accuracy of the algorithms are carried out to demonstrate the robustness of the control approach. It is shown that the particle swarm optimization-based control mechanism performs better than the spiral dynamic algorithm-based control in terms of system stability, disturbance rejection and reduce noise. Moreover, the particle swarm optimization-based IT2FLC shows better performance in comparison to previous research. It is envisaged that this system and control algorithm can be very useful for the development of a mobile robot with extended functionality

A Novel Adaptive PID Controller Design for a PEM Fuel Cell Using Stochastic Gradient Descent with Momentum Enhanced by Whale Optimizer

This paper presents an adaptive PID using stochastic gradient descent with momentum (SGDM) for a proton exchange membrane fuel cell (PEMFC) power system. PEMFC is a nonlinear system that encounters external disturbances such as inlet gas pressures and temperature variations, for which an adaptive control law should be designed. The SGDM algorithm is employed to minimize the cost function and adapt the PID parameters according to the perturbation changes. The whale optimization algorithm (WOA) was chosen to enhance the adaptive rates in the offline mode. The proposed controller is compared with PID stochastic gradient descent (PIDSGD) and PID Ziegler Nichols tuning (PID-ZN). The control strategies’ robustnesses are tested under a variety of temperatures and loads. Unlike the PIDSGD and PID-ZN controllers, the PIDSGDM controller can attain the required control performance, such as fast convergence and high robustness. Simulation results using Matlab/Simulink have been studied and illustrate the effectiveness of the proposed controller.The authors wish to express their gratitude to the Basque Government through the project EKOHEGAZ (ELKARTEK KK-2021/00092), to the Diputación Foral de Álava (DFA) through the project CONAVANTER, and to the UPV/EHU through the project GIU20/063 for supporting this work

Metaheuristic Parameter Identification of Motors Using Dynamic Response Relations

This article presents the use of the equations of the dynamic response to a step input in metaheuristic algorithm for the parametric estimation of a motor model. The model equations are analyzed, and the relations in steady-state and transient-state are used as delimiters in the search. These relations reduce the number of random parameters in algorithm search and reduce the iterations to find an acceptable result. The tests were implemented in two motors of known parameters to estimate the performance of the modifications in the algorithms. Tests were carried out with three algorithms (Gray Wolf Optimizer, Jaya Algorithm, and Cuckoo Search Algorithm) to prove that the benefits can be extended to various metaheuristics. The search parameters were also varied, and tests were developed with different iterations and populations. The results show an improvement for all the algorithms used, achieving the same error as the original method but with 10 to 50% fewer iterationsThis research received no external funding. Partial funding for open access charge: Universidad de Málag

Digital twin-based Optimization on the basis of Grey Wolf Method. A Case Study on Motion Control Systems

Nowadays, digital twins are fostering the development of plug, simulate and optimize behavior in industrial cyber-physical systems. This paper presents a digital twin-based optimization of a motion system on the basis of a grey wolf optimization (GWO) method. The digital twin of the whole ultraprecision motion system with friction and backlash including a P-PI cascade controller is used as a basement to minimize the maximum position error. The simulation study and the real-time experiments in trajectory control are performed to compare the performance of the proposed GWO algorithm and the industrial method called Fine tune (FT) method. The simulation study shows that the digital twin-based optimization using GWO outperformed FT method with improvement of 66.4% in the reduction of the maximum position error. The real-time experimental results obtained show also the advantage of GWO method with 18% of improvement in the maximum peak error and 16% in accuracy

Optimization-Based Evolutionary Data Mining Techniques for Structural Health Monitoring

In recent years, data mining technology has been employed to solve various Structural Health Monitoring (SHM) problems as a comprehensive strategy because of its computational capability. Optimization is one the most important functions in Data mining. In an engineering optimization problem, it is not easy to find an exact solution. In this regard, evolutionary techniques have been applied as a part of procedure of achieving the exact solution. Therefore, various metaheuristic algorithms have been developed to solve a variety of engineering optimization problems in SHM. This study presents the most applicable as well as effective evolutionary techniques used in structural damage identification. To this end, a brief overview of metaheuristic techniques is discussed in this paper. Then the most applicable optimization-based algorithms in structural damage identification are presented, i.e. Particle Swarm Optimization (PSO), Genetic Algorithm (GA), Imperialist Competitive Algorithm (ICA) and Ant Colony Optimization (ACO). Some related examples are also detailed in order to indicate the efficiency of these algorithms

Enhanced grey wolf optimisation algorithm for feature selection in anomaly detection

Anomaly detection deals with identification of items that do not conform to an expected pattern or items present in a dataset. The performance of different mechanisms utilized to perform the anomaly detection depends heavily on the group of features used. Thus, not all features in the dataset can be used in the classification process since some features may lead to low performance of classifier. Feature selection (FS) is a good mechanism that minimises the dimension of high-dimensional datasets by deleting the irrelevant features. Modified Binary Grey Wolf Optimiser (MBGWO) is a modern metaheuristic algorithm that has successfully been used for FS for anomaly detection. However, the MBGWO has several issues in finding a good quality solution. Thus, this study proposes an enhanced binary grey wolf optimiser (EBGWO) algorithm for FS in anomaly detection to overcome the algorithm issues. The first modification enhances the initial population of the MBGWO using a heuristic based Ant Colony Optimisation algorithm. The second modification develops a new position update mechanism using the Bat Algorithm movement. The third modification improves the controlled parameter of the MBGWO algorithm using indicators from the search process to refine the solution. The EBGWO algorithm was evaluated on NSL-KDD and six (6) benchmark datasets from the University California Irvine (UCI) repository against ten (10) benchmark metaheuristic algorithms. Experimental results of the EBGWO algorithm on the NSL-KDD dataset in terms of number of selected features and classification accuracy are superior to other benchmark optimisation algorithms. Moreover, experiments on the six (6) UCI datasets showed that the EBGWO algorithm is superior to the benchmark algorithms in terms of classification accuracy and second best for the number of selected features. The proposed EBGWO algorithm can be used for FS in anomaly detection tasks that involve any dataset size from various application domains

Performance Improvement of Low-Cost Iterative Learning-Based Fuzzy Control Systems for Tower Crane Systems

This paper is dedicated to the memory of Prof. Ioan Dzitac, one of the fathers of this journal and its founding Editor-in-Chief till 2021. The paper addresses the performance improvement of three Single Input-Single Output (SISO) fuzzy control systems that control separately the positions of interest of tower crane systems, namely the cart position, the arm angular position and the payload position. Three separate low-cost SISO fuzzy controllers are employed in terms of first order discrete-time intelligent Proportional-Integral (PI) controllers with Takagi-Sugeno-Kang Proportional-Derivative (PD) fuzzy terms. Iterative Learning Control (ILC) system structures with PD learning functions are involved in the current iteration SISO ILC structures. Optimization problems are defined in order to tune the parameters of the learning functions. The objective functions are defined as the sums of squared control errors, and they are solved in the iteration domain using the recent metaheuristic Slime Mould Algorithm (SMA). The experimental results prove the performance improvement of the SISO control systems after ten iterations of SMA

Traffic flow forecasting using natural selection based Hybrid Bald Eagle Search - Grey Wolf Optimization algorithm

In a fast-moving world, transportation consumes most of the time and resources. Traffic prediction has become a thrust application for machine learning algorithms to overcome the hurdles faced by congestion. Its accuracy determines the selection and existence of machine learning algorithms. The accuracy of such an algorithm is improved better by the proper tuning of the parameters. Support Vector Regression (SVR) is a well-known prediction mechanism. This paper exploits the Hybrid Grey Wolf Optimization – Bald Eagle Search (GWO-BES) algorithm for tuning SVR parameters, wherein the GWO selection methods are of natural selection. SVR-GWO-BES with natural selection has error performance increases by 48% in Mean Absolute Percentage Error and Root Mean Square Error, with the help of Caltrans Performance Measurement System (PeMS) open-source data and Chennai city traffic data for traffic forecasting. It is also shown that the increasing population of search agents increases the performance