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Interval Type-2 Fuzzy Logic PID Controller Based on Differential Evolution with Better and Nearest Option for Hydraulic Serial Elastic Actuator

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  • Intelligent Control and Applications
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Abstract

Interval type-2 fuzzy logic controller (IT2FLC) owns good performance under uncertainty and nonlinearity environments while its optimization is hard and complicated. In this work, we propose an optimization method based on differential evolution with better and nearest option (NbDE) for interval type-2 fuzzy logic PID controller (IT2FL-PID-C) in order to control the position of hydraulic serial elastic actuator (SEA). Firstly, a simplified IT2FL-PID-C structure with fewer parameters is proposed to reduce the difficulty of the optimization of IT2FL-PID-C. To balance its frequency and step performance, an objective function with weighted integral time absolute error and integral square error is given. Secondly, to investigate the performance of NbDE based IT2FL-PID-C, three experiments are conducted. A set of experiments is taken to determine the weight for fitness function. Then we compare NbDE with other algorithms. In addition, NbDE-IT2FL-PID-C is also compared with other optimization methods. At last, NbDE-IT2FL-PID-C is applied to hydraulic SEA and compared with PID. And a range for the weight of fitness function is given. The results have shown the superiority of NbDE with proposed fitness function to optimize IT2FL-PID-C and the superiority of NbDE-IT2FL-PID-C to control the position of hydraulic SEA.

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Authors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology (HUST), 1037 Luoyu Road, Hubei, Wuhan, China

    Haozhen Dong, Xinyu Li, Pi Shen, Liang Gao & Haorang Zhong

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  1. Haozhen Dong
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Correspondence to Liang Gao.

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Recommended by Associate Editor Xiao-Heng Chang under the direction of Editor Guang-Hong Yang. This research is supported by the Program for HUST Academic Frontier Youth Team under Grant No. 2017QYTD04, The Program for HUST Independent Innovation Fund Innovation Cross Key Team: Humanoid Robot under Grant No. 2016JCTD205.

Haozhen Dong received his B.S. and Master’s degrees in mechanical engineering from the Wuhan University (WHU), Wuhan, China, in 2016. He is a Doctoral Candidate with the Department of Industrial and Manufacturing Systems Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology (HUST). His current research interests include humanoid robot, fuzzy logic control and intelligent algorithm.

Xinyu Li received his Ph.D. degree in industrial engineering from the Huazhong University of Science and Technology (HUST), Wuhan, China, 2009. He is a Professor with the Department of Industrial & Manufacturing Systems Engineering, State Key Laboratory of Digital Manufacturing Equipment & Technology, School of Mechanical Science & Engineering, HUST. He had authored or coauthored more than 60 refereed papers. His research interests include intelligent scheduling, machine learning, etc.

Pi Shen received his B.S. degree in mechanical engineering from the Huazhong University of Science and Technology (HUST), Wuhan, China, 2018. He is currently working toward an M.S. degree majored in mechanical engineering, School of Mechanical Science & Engineering, HUST. His research interests include biped mobile robot and design optimization.

Liang Gao received his Ph.D. degree in mechatronic engineering from the Huazhong University of Science and Technology (HUST), Wuhan, China, 2002. He is a Professor with the School of Mechanical Science & Engineering, HUST. He received the National Natural Science Foundation for Distinguished Young Scholars of China under Grant No.51825502. He had authored or coauthored more than 140 refereed papers.Prof. GAO is an Associate Editor of Swarm and Evolutionary Computation, Journal of Industrial and Production Engineering, and Swarm Intelligence and Numerical Method. He is an editorial board member of the European Journal of Industrial Engineering.

Haorang Zhong is a Doctoral Candidate with the Department of Industrial and Manufacturing Systems Engineering, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology (HUST). His current research interests include humanoid robot, impendence control and intelligent algorithm.

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Dong, H., Li, X., Shen, P. et al. Interval Type-2 Fuzzy Logic PID Controller Based on Differential Evolution with Better and Nearest Option for Hydraulic Serial Elastic Actuator. Int. J. Control Autom. Syst. 19, 1113–1132 (2021). https://doi.org/10.1007/s12555-020-0141-2

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