Optimal Nonlinear PID Control of a Micro-Robot Equipped with Vibratory Actuator Using Ant Colony Algorithm: Simulation and Experiment

In this paper, an optimal nonlinear control scheme based on the application of ant colony optimization (ACO) is applied to a micro-robot equipped with vibratory actuators. Accordingly, two small vibrating motors are utilized to run the micro-robot and the motion principle of stick-slip is used for l...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2020-09, Vol.99 (3-4), p.773-796
Main Authors: Karami, M., Tavakolpour-Saleh, A. R., Norouzi, A.
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Analysis
Ant colony optimization
Artificial Intelligence
Computer simulation
Control
Dynamic models
Electrical Engineering
Engineering
Locomotion
Mechanical Engineering
Mechatronics
Microrobots
Nonlinear control
Proportional integral derivative
Robot control
Robot dynamics
Robotics
Robots
Simulation
Simulation methods
Stiffness
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Summary:In this paper, an optimal nonlinear control scheme based on the application of ant colony optimization (ACO) is applied to a micro-robot equipped with vibratory actuators. Accordingly, two small vibrating motors are utilized to run the micro-robot and the motion principle of stick-slip is used for locomotion purpose. First, a dynamic model of the micro-robot is derived considering the stiffness of the robot’s legs. Then, the influences of robot mass and length of legs on micro-robot motion are studied using simulation. Next, an optimal linear PID control scheme is applied to the micro-robot system. However, it is found that this control method does not have an acceptable performance when friction is low or the system is under disturbance. Consequently, an ACO-based optimal nonlinear PID control is proposed to cope with the mentioned drawbacks as the main contribution of the paper. Afterwards, the performance of both control techniques is compared through simulation. Finally, the micro-robot is developed and experimentally evaluated. It is found that the experimental results are in a good agreement with some of the simulation outcomes through which the validity of the mathematical scheme as well as the feasibility of design is affirmed.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-020-01165-5