Page 237 - 2024-Vol20-Issue2

233 | Abdul Zahra & Wali

2.5Angular Position (rad) at Joint 1 80Angular Torque (N.m) at Joint 1

Desired PositionAngular Position (rad) at Joint 2 Classical PSOAngular Torque (N.m) at Joint 2
Actual Position controlled with STSMC using Classical PSO Chaotic PSO
Actual Position controlled with STSMC using Chaotic PSO
70
2 60
50
1.5 40
30
1 20
10
0.5
0
0 -10
-20
-0.5
0 1 2 3 4 5 6 7 8 9 10 0 1 2 3 4 5 6 7 8 9 10

Time (seconds) Time (seconds)

(a) (a)

2.5 20

Desired Position Classical PSO
Actual Position controlled with STSMC using Classical PSO Chaotic PSO
Actual Position controlled with STSMC using Chaotic PSO
15
2
10
1.5
5
1
0
0.5
-5
0
-10
-0.5
0 1 2 3 4 5 6 7 8 9 10 -15
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
Time (seconds)
(b)
Fig. 7. For Second Trajectory: Actual and desired positions (b)
for both links using STSMC based FPGA. Fig. 9. For Second Trajectory: Angular Torque at each link
using STSMC based FPGA.

Angular Torque (N.m) at Joint 1 120 The control signal represents the angular torque at each
link of the robot and shows in Fig. 8 and Fig. 9 for the first
Classical PSOAngular Torque (N.m) at Joint 2and second trajectories respectively. These Figures explain
Chaotic PSO that we need a less torque using the proposed controller that
tuned with Chaotic PSO algorithm in comparison with the
100 optimal controller based on the classical PSO algorithm.

80 VII. CONCLUSIONS

60 In this paper, the STSMC technique for tracking the path of
(2 - links) robot manipulator has been implemented by using
40 FPGA due to many advantages like its high capacity of data
storage, high speed to execute the operation and low energy
20 consumption. The asymptotic stability has been proved in
designing the STSMC method. Instead of depending on the
0 trial and error technique to compute the optimal parameters of
0 1 2 3 4 5 6 7 8 9 10 the designed controller, Chaotic PSO technique used and com-
pared with the traditional PSO tuner to obtain best optimum
Time (seconds) parameters of the proposed control scheme. A best dynamic
performance for the system has been obtained and the com-
(a) puter results in MATLAB/ SIMULINK and XILINX block
sets proved that from the comparative study between both
35 Chaotic and classical PSO algorithms. The simulation results
demonstrated the efficiency of the STSMC method based on
Classical PSO FBGA device and achieve the superior improvements to track
Chaotic PSO the desired path of the robot manipulator. In the future work,
the optimum suggested control method may be employed for
30
25
20
15
10

5
0
-5
-10

0 1 2 3 4 5 6 7 8 9 10

Time (seconds)

(b)
Fig. 8. For First Trajectory: Angular Torque at each link
using STSMC based FPGA.

and Chaotic PSO algorithm to reach to the desired path rather
than of using the classical PSO technique.