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Particle swarm optimization: based identification of a bouncing spherical robot

In this paper a spherical robot consists of a spherical steel spokes shell and an inner bouncing mechanism. To control the bouncing mechanism, a system model should be introduced. The system model only deal with the first bounce of the spherical mobile robot to overcome the bouncing restitution f...

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Main Authors: Abdullah, Muhammad Amirul, Ahmad, Salmiah, Toha, Siti Fauziah
Format: Conference or Workshop Item
Language:English
English
English
Published: IEEE 2015
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/45171/1/45171.pdf
http://irep.iium.edu.my/45171/4/ASCC-organizer.pdf
http://irep.iium.edu.my/45171/7/45171_particle%20swarm%20optimization_scopus.pdf
http://irep.iium.edu.my/45171/
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7244901
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spelling my.iium.irep.451712017-09-20T03:47:31Z http://irep.iium.edu.my/45171/ Particle swarm optimization: based identification of a bouncing spherical robot Abdullah, Muhammad Amirul Ahmad, Salmiah Toha, Siti Fauziah TJ212 Control engineering In this paper a spherical robot consists of a spherical steel spokes shell and an inner bouncing mechanism. To control the bouncing mechanism, a system model should be introduced. The system model only deal with the first bounce of the spherical mobile robot to overcome the bouncing restitution for landing. This paper presents a transfer function model prediction with particle swarm optimization for a bouncing spherical mobile robot. The particle swarm optimization technique is used in search for accurate model with capability to adapt with different input height of drop. The model is further validated with autocorrelation and crosscorrelation test and it is proven to give an error tolerance between the 95% confidence limit. IEEE 2015 Conference or Workshop Item REM application/pdf en http://irep.iium.edu.my/45171/1/45171.pdf application/pdf en http://irep.iium.edu.my/45171/4/ASCC-organizer.pdf application/pdf en http://irep.iium.edu.my/45171/7/45171_particle%20swarm%20optimization_scopus.pdf Abdullah, Muhammad Amirul and Ahmad, Salmiah and Toha, Siti Fauziah (2015) Particle swarm optimization: based identification of a bouncing spherical robot. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7244901 10.1109/ASCC.2015.7244901
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Abdullah, Muhammad Amirul
Ahmad, Salmiah
Toha, Siti Fauziah
Particle swarm optimization: based identification of a bouncing spherical robot
description In this paper a spherical robot consists of a spherical steel spokes shell and an inner bouncing mechanism. To control the bouncing mechanism, a system model should be introduced. The system model only deal with the first bounce of the spherical mobile robot to overcome the bouncing restitution for landing. This paper presents a transfer function model prediction with particle swarm optimization for a bouncing spherical mobile robot. The particle swarm optimization technique is used in search for accurate model with capability to adapt with different input height of drop. The model is further validated with autocorrelation and crosscorrelation test and it is proven to give an error tolerance between the 95% confidence limit.
format Conference or Workshop Item
author Abdullah, Muhammad Amirul
Ahmad, Salmiah
Toha, Siti Fauziah
author_facet Abdullah, Muhammad Amirul
Ahmad, Salmiah
Toha, Siti Fauziah
author_sort Abdullah, Muhammad Amirul
title Particle swarm optimization: based identification of a bouncing spherical robot
title_short Particle swarm optimization: based identification of a bouncing spherical robot
title_full Particle swarm optimization: based identification of a bouncing spherical robot
title_fullStr Particle swarm optimization: based identification of a bouncing spherical robot
title_full_unstemmed Particle swarm optimization: based identification of a bouncing spherical robot
title_sort particle swarm optimization: based identification of a bouncing spherical robot
publisher IEEE
publishDate 2015
url http://irep.iium.edu.my/45171/1/45171.pdf
http://irep.iium.edu.my/45171/4/ASCC-organizer.pdf
http://irep.iium.edu.my/45171/7/45171_particle%20swarm%20optimization_scopus.pdf
http://irep.iium.edu.my/45171/
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7244901
_version_ 1643612734701436928
score 13.211869

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