Bat algorithm based control to decrease the control energy consumption and modified bat algorithm based control to increase the trajectory tracking accuracy in robots

From the control theory, the best control gain produces a balance between the trajectory tracking accuracy and control energy consumption. The random search of the bat algorithm is one alternative to find the best control gain. In this paper, (1) a bat algorithm based control is proposed to decrease the control energy consumption in robots, where a bat algorithm is used to find the best control gain; and (2) a modified bat algorithm based control is proposed to increase the trajectory tracking accuracy in robots, where a modified bat algorithm is used to find the best control gain. The comparison between the two proposed controls and the simplex based control is illustrated for the trajectory tracking accuracy and control energy consumption in two robots. (c) 2023 Elsevier Ltd. All rights reserved.

Automated summary

From the control theory perspective, the best control gain achieves a balance between trajectory tracking accuracy and control energy consumption. The bat algorithm is proposed as an alternative for finding the optimal control gain. This paper presents a bat algorithm based control approach to reduce control energy consumption in robots, and a modified bat algorithm based control approach to improve trajectory tracking accuracy in robots. A comparison is made between these two approaches and the simplex based control with regards to trajectory tracking accuracy and control energy consumption in two robots.