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Identification of a robotic manipulator using RLS-PSO and control LQI with metaheuristics

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Abstract

This paper presents the control and identification model of a cylindrical manipulator joint driven by a three-phase induction motor based on least squares (LS), recursive least squares (RLS), and particle swarm optimization (PSO) with search space defined by RLS (RLS-PSO). An experimental dataset is used where the input is a pseudorandom binary sequence (PRBS) current signal and the output is the joint speed of the manipulator. The experimental results of the identification methods are presented, and the models in the form of a transfer function are found. In addition, a linear quadratic regulator with integral action (LQR/LQI) is designed for a joint robot manipulator. Optimization of the LQI controller with the genetic algorithm (GA) and PSO (LQI+GA and LQI+PSO) is proposed to optimize the Q and R matrices of the controller. Performance indices were obtained to demonstrate the efficacy of the proposed method and can be observed that LQI+PSO controller presents better results in relation to the others.

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Acknowledgements

The authors thank the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) and Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPQ) for the financial support to this work.

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Authors and Affiliations

  1. Electrical Engineering Department, GPAR - Research Group on Automation, Control and Robotics, Federal University of Ceara, Campus do Pici, Fortaleza, 60020-181, Ceará, Brazil

    Josias Batista, Darielson Souza, Laurinda dos Reis, Antônio Barbosa & Clauson Rios

  2. Industry Department, IFCE Campus Fortaleza, Av. Treze de Maio, 2081, Fortaleza, 60040-531, Ceará, Brazil

    Josias Batista & Clauson Rios

  3. Industry Department, IFCE - Campus Maracanaú, Av. Parque Central, 1315, Maracanaú, 61939-140, Ceará, Brazil

    Antônio Barbosa

Authors
  1. Josias Batista
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  2. Darielson Souza
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  3. Laurinda dos Reis
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  4. Antônio Barbosa
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  5. Clauson Rios
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Contributions

Conceptualization, J.B. and L.R.; methodology, J.B., C.R., and L.R.; software, J.B., C.R., and D.S.; validation, J.B., A.B., C.R., D.S., and L.R.; formal analysis, J.B. and L.R.; investigation, J.B., A.B., and L.R.; data curation, J.B., A.B., C.R., and D.S.; writing—original draft preparation, J.B., A.B., C.R., and L.R.; writing—review and editing, J.B., A.B., C.R., and L.R..; visualization, J.B., A.B., D.S., and L.R.; supervision, J.B., A.B., and L.R.; project administration, A.B., C.R., and L.R.

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Correspondence to Josias Batista.

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Batista, J., Souza, D., dos Reis, L. et al. Identification of a robotic manipulator using RLS-PSO and control LQI with metaheuristics. Int J Adv Manuf Technol 129, 183–195 (2023). https://doi.org/10.1007/s00170-023-12187-2

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  • DOI: https://doi.org/10.1007/s00170-023-12187-2

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