Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
Goher, Khaled; Almeshal, A. M.; Agouri, S. A.; Nasir, A. N. K.; Tokhi, M. O.; Alenezi, M. R.; Al Zanki, T.; Fadlallah, S. O.
Abstract
This paper presents the implementation of the hybrid spiral-dynamic bacteria-chemotaxis (HSDBC) approach to control two different configurations of a two-wheeled vehicle. The HSDBC is a combination of bacterial chemotaxis used in bacterial forging algorithm (BFA) and the spiral-dynamic algorithm (SDA). BFA provides a good exploration strategy due to the chemotaxis approach. However, it endures an oscillation problem near the end of the search process when using a large step size. Conversely; for a small step size, it affords better exploitation and accuracy with slower convergence. SDA provides better stability when approaching an optimum point and has faster convergence speed. This may cause the search agents to get trapped into local optima which results in low accurate solution. HSDBC exploits the chemotactic strategy of BFA and fitness accuracy and convergence speed of SDA so as to overcome the problems associated with both the SDA and BFA algorithms alone. The HSDBC thus developed is evaluated in optimizing the performance and energy consumption of two highly nonlinear platforms, namely single and double inverted pendulum-like vehicles with an extended rod. Comparative results with BFA and SDA show that the proposed algorithm is able to result in better performance of the highly nonlinear systems.... [Show full abstract]
Keywords
spiral dynamics; bacteria chemotaxis; two-wheeled inverted pendulum with new configuration; PD-like fuzzy logic control; hybrid fuzzy logic controlFields of Research
090602 Control Systems, Robotics and Automation; 09 Engineering; 0902 Automotive Engineering; 0904 Chemical EngineeringDate
2017Type
Journal ArticleCollections
© The Author(s) 2017
Citation
Goher et al. (2017). Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines. Robotics and Biomimetics, 4(3), 1-15. doi:10.1186/s40638-017-0059-1The following license files are associated with this item: