Page 236 - 2024-Vol20-Issue2

7| Marhoon & Rashid

232 | Abdul Zahra & Wali

Start

Initialize the input data

Compute the objective cost function

Calculate the (??????????) and (??????????) ??1 , ??2

Using the equations (18) and (21) to update
both the position and velocity of the
particles.

+

????1 , ????2 -

NO ??1 , ??2
Check the

conditions of
stopping

Using Logistic Chaotic Map in (20) to find
the values of (??1, ??2)

YES
Finish

Fig. 4. Flowchart Foifg.C4h. FalootwicchParSt Oof AChlagootircitPhSmO atolgoTriuthnme tPoatruanme peatrearmseotefrsSoTf SSTMSMCCDdeepeennddssononFPFGPAGA.

22 1
Chaotic PSO
Classical PSO

20
0.8

Objective Fitness Function (Joint 1) 18 Angular Position (rad) at Joint 1
0.6

16
0.4

14

0.2
12

0

10

Desired Position

(a) (b) Actual Position controlled with STSMC using Classical PSO
8 -0.2 Actual Position controlled with STSMC using Chaotic PSO

0 10 20 30 40 50 60 70 80 90 100 0 1 2 3 4 5 6 7 8 9 10

Iteration Time (seconds)

Fig. 5. Behaviours of Fitness function based on Classical and Chaotic PSO at (a) ??1, and (b) ??2

(a) (a)

Objective Fitness Function (Joint 2) 22 Angular Position (rad) at Joint 2 1.2
Chaotic PSO
Classical PSO Desired Position
Actual Position controlled with STSMC using Classical PSO
20 Actual Position controlled with STSMC using Chaotic PSO

18 1

16 0.8

14 0.6

12 0.4

10 0.2

8 0
0 10 20 30 40 50 60 70 80 90 100 0 1 2 3 4 5 6 7 8 9 10

Iteration Time (seconds)

(b) (b)

Fig. 5. Behaviors of Fitness function based on Classical and Fig. 6. For the First Trajectory: Actual and desired positions
Chaotic PSO at (a) q1, and (b) q2. for both links using STSMC based FPGA.