Open AccessAn effective approach to enhance the balancing control in bycycorobot using the soft computing techniques
Author(s) -
Ashok Kumar Sharma,
D. K. Sambariya
Publication year - 2022
Publication title -
international journal of robotics and automation (ijra)/iaes international journal of robotics and automation
Language(s) - English
Resource type - Journals
eISSN - 2722-2586
pISSN - 2089-4856
DOI - 10.11591/ijra.v11i1.pp43-61
Subject(s) - computer science , controller (irrigation) , control theory (sociology) , task (project management) , load balancing (electrical power) , open loop controller , control (management) , control engineering , closed loop , mathematics , artificial intelligence , engineering , geometry , systems engineering , grid , agronomy , biology
The balancing and control of bycycorobot is a challenging task. The pre - specified controller available in the literature for balancing has been reduced with novel optimization to improve the effectiveness of balancing, uncertainty, and the complexity of the complete system. The novel Harris hawk optimization (HHO) which is based on the hunting behavior of the h awk has been utilized to improve the balancing of the bycycorobot. The paper proposes the decreased order controller of a pre - specified controller for a bycycorobot. The obtained controller response with bycycorobot in the complete closed loop is analyzed, and the best performance is compared with the reduced order controller available in the literature. The comparison is based on the response indices and response characteristics.