Levy Flight Safe Experimentation Dynamics Algorithm for Data-Based PID Tuning of Flexible Joint Robot

• Main Authors: Mohd Ashraf, Ahmad, Mohd Helmi, Suid, Muhammad Ikram, Mohd Rashid, Mohd Zaidi, Mohd Tumari, M. H., Sulaiman
• Format: Conference or Workshop Item
• Language: English
• Published: IEEE 2020
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/28415/7/Levy%20Flight%20Safe%20Experimentation%20Dynamics%20Algorithm.pdf; http://umpir.ump.edu.my/id/eprint/28415/; https://doi.org/10.1109/ISCAIE47305.2020.9108840

This paper proposes the data-based PID controller of flexible joint robot based on Levy Flight Safe Experimentation Dynamics (LFSED) algorithm. The LFSED algorithm is an enhanced version of SED algorithm where the random perturbation of the updated tuning variable is based on Levy Flight function. B...