Order Diminution of Bicycle-Robot Controller by Exploiting Markov-Parameters based Error-Minimization Using Jaya Algorithm

U. Yadav, V. Meena, Himanshu Monga, N. Patnana, Vinay Singh
{"title":"Order Diminution of Bicycle-Robot Controller by Exploiting Markov-Parameters based Error-Minimization Using Jaya Algorithm","authors":"U. Yadav, V. Meena, Himanshu Monga, N. Patnana, Vinay Singh","doi":"10.1109/PEDES56012.2022.10080767","DOIUrl":null,"url":null,"abstract":"In this proposal, order diminution of self-balanced linear-momentum based bicycle-robot (LMBR) controller is proposed with the help of time-moments (TMs) and Markov-parameters (MPs) of higher-order (HO) LMBR controller and its desired reduced-order (RO) model by utilizing jaya algorithm. Firstly, the TMs and MPs of HO LMBR controller and its RO model are obtained. The TMs of HO LMBR controller and RO model are exploited for steady state matching. The MPs are utilized to construct the objective function which is weighted summation of errors in between MPs of HO LMBR controller and RO model. The framed objective function is minimized with the help of jaya algorithm. The minimization of errors between MPs of HO LMBR controller and RO model are done for ascertainment of unknown coefficients of desired RO model. The proposed RO model for HO LMBR controller is compared with the model obtained by exploiting other order reduction methods available in the literature.","PeriodicalId":161541,"journal":{"name":"2022 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2022-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2022 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PEDES56012.2022.10080767","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1

Abstract

In this proposal, order diminution of self-balanced linear-momentum based bicycle-robot (LMBR) controller is proposed with the help of time-moments (TMs) and Markov-parameters (MPs) of higher-order (HO) LMBR controller and its desired reduced-order (RO) model by utilizing jaya algorithm. Firstly, the TMs and MPs of HO LMBR controller and its RO model are obtained. The TMs of HO LMBR controller and RO model are exploited for steady state matching. The MPs are utilized to construct the objective function which is weighted summation of errors in between MPs of HO LMBR controller and RO model. The framed objective function is minimized with the help of jaya algorithm. The minimization of errors between MPs of HO LMBR controller and RO model are done for ascertainment of unknown coefficients of desired RO model. The proposed RO model for HO LMBR controller is compared with the model obtained by exploiting other order reduction methods available in the literature.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
基于Jaya算法的马尔可夫参数误差最小化的自行车机器人控制器降阶
本文利用高阶(HO)自平衡线性动量自行车机器人(LMBR)控制器的时间矩(TMs)和马尔可夫参数(MPs)及其期望的降阶(RO)模型,利用jaya算法提出了自平衡线性动量自行车机器人(LMBR)控制器的降阶方法。首先,得到了HO - LMBR控制器及其RO模型的TMs和MPs。利用HO - LMBR控制器和RO模型的TMs进行稳态匹配。利用MPs构造目标函数,该目标函数是HO LMBR控制器的MPs与RO模型之间误差的加权和。利用jaya算法对框架目标函数进行最小化。为了确定期望RO模型的未知系数,最小化了HO LMBR控制器的MPs与RO模型之间的误差。将所提出的RO模型与利用其他文献中可用的降阶方法得到的模型进行了比较。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Analytical Series-PID controller design with Smith Predictor approach for analyzing and mitigating the Time Delay Cyber Attack (TDCA) A Novel Fault Detection Index in Smart Distribution System consisting Multi-Microgrids Combined SoC and SoE Estimation of Lithium-ion Battery using Multi-layer Feedforward Neural Network Fault Tolerance of the Neutral Point Clamped based Inverter Driven Nine Phase Induction Machine under Switch Fault Condition Sliding-Mode High-Gain Observer based Position Control for an Electro-Hydraulic Actuator
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1