RESEARCH ARTICLE | DECEMBER 22 2023

Motion tracking for a 3-DOF robotics system by using

particles swarm optimization 
Jasim Khawwaf; Kamal M. H. Raheem; Ali Muhssen Abdul-Sadah 

AIP Conf. Proc. 2977, 020030 (2023)

https://doi.org/10.1063/5.0182066

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22 December 2023 17:58:58

 Motion Tracking for a 3-DOF Robotics System by Using
Particles Swarm Optimization
Jasim Khawwaf 1, a), Kamal M.H. Raheem 2, b), Ali Muhssen Abdul-Sadah 2, c)
1
Department of Electronic and Communication Engineering, Faculty of Engineering, University of Kufa, Najaf,
Iraq
2
Technical Engineering College, University of Alkafeel, Najaf, Iraq

Œƒ•‹—ǤƒŽƒƒ‹̷—‘—ˆƒǤ‡†—Ǥ‹“
a)
b)
[email protected], [email protected]
c)
Corresponding author: [email protected], [email protected].

Abstract: Robotics is among the much-touted treatment and therapy solutions in modern dentistry. A unique Particle
Swarm Optimization PSO is utilized to manage the needle tip location and direction as a function of the knots along the
path between the end-effector segments in a dentistry robotics navigation system recently suggested. The innovative
"Numeric Alphabet Flow" (NAF) method may control any point-to-point surgical motions for a three-link robotic guiding

22 December 2023 17:58:58

system. The new NAF approach creates a brand-new form known as the NAF-PSO methodology by using flowing values
and alphanumeric characters in the fuzzy rules and employing particle swarm optimization techniques. Within that paper,
we use the novel NAF-PSO to improve robotic tracking performance. This study introduces a unique route planner that
specifies the suggested NAF-PSO function as minimizing space and traveling time while not reaching a maximal preset
force and avoiding obstacles.

Keywords: Medical Robot, motion planning, Obstacle avoiding, Needle steering.

INTRODUCTION

The robotics system is employed in surgical due to its excellent quality, accuracy, efficiency, and reliability. Since
their recent improvement, high-techs such as robotics lasers and dentistry laser are now used in root canal therapy and
light bio-stimulate chemically injured cells. We examine our suggested robotics system, the continuous movement
control for avoiding obstacles for robotics control system, in this study. The dentistry robotics might assist dentist
therapists in their treatments both practically and aesthetically, since it decreases surgical times, as demonstrated by
our novel technique, and improves precision and effectiveness via the new update of the NAF-BBO technique. The
therapist's operation is essentially planned in software, and the robotics will help the doctor thru the process by
displaying every detail on a monitor. Then if the technique changes, the therapist may readily modify the program.
Supplement given by toothpaste or mouthwash might patrol entire subs and above gingival areas at minimum once
a day, converting stuck organic material into odorless, harmless vapors and performing continuous cleaning. Gingival
sickness and tooth decay could be avoided with these dentists [1-5]. Robots are mostly utilized for industrial
applications, but they can also be used mostly for medical uses. The gripper is made up of linkages that are joined
together by joints. Those joints could be prismatic or rotatory, with the prismatic having linear movement and the
rotatory having rotating movement. Every joint has only one degree of freedom (DOF) [6-7]. Minimum invasive
surgery (MIS) is viewed as a possible alternative for treatment and care in various clinical settings [8]. Due to the low
accessibility for this type of procedure, percutaneous participation is of specific importance [9]. It is mostly used with
a standard needle since doctors can presume that its activity is automatically suitable in the tissue during the inserting
operation. [10-12] demonstrate attempts to use an adjustable needle to reach a target and ignore impediments.

4th International Scientific Conference of Alkafeel University (ISCKU 2022)

AIP Conf. Proc. 2977, 020030-1–020030-12; https://doi.org/10.1063/5.0182066
Published by AIP Publishing. 978-0-7354-4776-9/$30.00

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 Several examples include the magnetically guided needle guidance system introduced in [13], in which the needle
tip is controlled by a magnetic force in the presence of an impediment. In addition, [14] describes a lungs biopsy that
is aided by a robotics application. In this type of thinking, our research presents a dentistry robotics guiding system
using straight kinematic and inverse dynamics. The optimal path minimizes both space and time given that the
maximal preset force is not exceeded without colliding with the 'no-go' zones. With these novel techniques in
consideration, the following is the architecture of this article:
The path movement approach is shown in Section (II); the particle swarm optimization strategy is presented in
Section (III); the simulation results are presented in Section (V); and the conclusion and future work is presented in
Section (IV).

PATH MOVEMENT APPROACH

Many segments link the proposed route with continuous acceleration. This is accomplished by the use of multiple
points, as seen in Figure (1). The transitional points are the ones that must be gone by.

FIGURE 1. movement mapping from point to point

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For the robotics system, the number of Degree of Freedom (DOF) is considered as is n. To achieve a certain
location, velocity, and acceleration at each joint, a quartic polynomial model can be used. Assuming there many mid-
points between the starting (Base) and ending positions (Tip).
Given that a quartic equation is utilized to characterize the portions between that initial point and the midpoint m,
as shown in equations [1-4]:
௝
ߠ௜ǡ௜ାଵ ሺ‫ݐ‬ሻ ൌ  σସ௝ୀ଴ ܽ௜௝ ‫ݐ‬௜ ……..(1)
i=0, 1, 2…, mp-1
Where (ai0 , ai1 , ai2, ai3 and ai4) are constants, and the angle restrictions will be:
ߠ௜ ሺ‫ݐ‬ሻ ൌ  ܽ௜଴ ……..(2)
ߠ௜ାଵ ሺ‫ݐ‬ሻ ൌ ܽ௜଴ ൅ ܽ௜ଵ ܶ௜ ൅ ܽ௜ଶ ܶ௜ଶ ൅ ܽ௜ଷ ܶ௜ଷ ൅ ܽ௜ସ ܶ௜ସ ǥ Ǥ Ǥ ሺ͵ሻ

ߠሶ௜ ሺ‫ݐ‬ሻ ൌ  ܽ௜ଵ ǥ ǥ Ǥ Ǥ ሺͶሻ

ߠሶ௜ାଵ ሺ‫ݐ‬ሻ ൌ ܽ௜ଵ ൅ ʹܽ௜ଶ ܶ௜ ൅ ͵ܽ௜ଷ ܶ௜ଶ ൅ Ͷܽ௜ସ ܶ௜ଷ …(5)
ߠሷ௜ ሺ‫ݐ‬ሻ ൌ ʹܽ௜ଶ  …..….. (6)
Ti would be the time duration between points i and the following point. As a result, we may compute for the
parameters:
ܽ௜଴ ൌ  ߠ௜ ሺ‫ݐ‬ሻ …….. (7)
ܽ௜ଵ ൌ  ߠሶ௜ ሺ‫ݐ‬ሻ …….. (8)
ܽ௜ଶ ൌ  ߠሷ௜ ሺ‫ݐ‬ሻȀʹ …….. (9)
ܽ௜ଷ ൌ ሺͶߠ௜ାଵ െ ߠሶ௜ାଵ ܶ௜ െ Ͷߠ௜ െ ͵ߠሷ௜ ܶ௜ଶ ሻȀܶ௜ଷ …….. (10)
ܽ௜ସ ൌ ሺ͵ߠ௜ െ ͵ߠ௜ାଵ ൅ ʹߠሶ௜ ܶ௜ ൅ ߠሶ௜ାଵ ܶ௜ െ ߠሷ௜ ܶ௜ଶ ሻȀܶ௜ସ ……..(11)
The mid-point acceleration will be as:
ߠሷ௜ାଵ ൌ ʹܽ௜ଶ ൅ ͸ܽ௜ଷ ܶ௜ ൅ ͳʹܽ௜ସ ܶ௜ଶ …….. (12)
As seen in the equation (13) , a quantic polynomial is utilized to characterize the section between mid-point and
the end point:
ߠ௜ǡ௜ାଵ ሺ‫ݐ‬ሻ ൌ ܾ௜଴ ൅ ܾ௜ଵ ‫ݐ‬௜ ൅ ܾ௜ଶ ‫ݐ‬௜ଶ ൅ ܾ௜ଷ ‫ݐ‬௜ଷ ൅ ܾ௜ସ ‫ݐ‬௜ସ ൅ ܾ௜ହ ‫ݐ‬௜ହ ……(13)

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 The constants would be as:
ߠ௜ ൌ  ܾ௜଴ …….. (14)
ߠ௜ାଵ ൌ ܾ௜଴ ൅ ܾ௜ଵ ܶ௜ ൅ ܾ௜ଶ ܶ௜ଶ ൅ ܾ௜ଷ ܶ௜ଷ ൅ ܾ௜ସ ܶ௜ସ ൅ ܾ௜ହ ܶ௜ହ …….. (15)
ߠሶ௜ ൌ  ܾ௜ଵ …….. (16)
ߠሶ௜ାଵ ൌ ܾ௜ଵ ൅ ʹܾ௜ଶ ܶ௜ ൅ ͵ܾ௜ଷ ܶ௜ଶ ൅ Ͷܾ௜ସ ܶ௜ଷ ൅ ͷܾ௜ହ ܶ௜ସ …….. (17)
ߠሷ௜ ൌ ʹܾ௜ଶ …….. (18)
ߠሷ௜ାଵ ൌ ʹܾ௜ଶ ൅ ͸ܾ௜ଷ ܶ௜ ൅ ͳʹܾ௜ସ ܶ௜ଶ ൅ ʹͲܾ௜ହ ܶ௜ଷ ….. (19)
And the solutions to these constraints are:
ܾ௜଴ ൌ  ߠ௜ …….. (20)
ܾ௜ଵ ൌ  ߠሶ௜ …….. (21)
ሷ
ܾ௜ଶ ൌ  ߠ௜ Ȁʹ ……… (22)
ܾ௜ଷ ൌ ሺʹͲߠ௜ାଵ െ ሺͺߠሶ௜ାଵ ൅ ͳʹߠሶ௜ ሻܶ௜ െ ʹͲߠ௜ െ ሺ͵ߠሷ௜ െ ߠሷ௜ାଵ ሻܶ௜ଶ ሻȀሺʹܶ௜ଷ ሻ …. (23)
ܾ௜ସ ൌ ሺͳʹߠ௜ାଵ െ ͳʹߠ௜ െ ൫͸ߠሶ௜ାଵ ൅ ͸ߠሶ௜ ൯ܶ௜ െ ൫ߠሷ௜ െ  ߠሷ௜ାଵ ൯ܶ௜ଶ ሻȀሺʹܶ௜ହ ሻ (24)
…..
The angles, angular velocities, total duration for each section, and conclusion configuration (n-m) with each
midpoint are acquired as constructed and examined above. Considering that the solution nine variables for three
linkages robotics example, considering n = 3 and mp = 1.

PARTICLE SWARM OPTIMIZATION STRATEGY

Fuzzy Logic Control (FLC)

Since its introduction, Fuzzy Logic Control (FLC) has had several useful applications, often in controlling. One of
the great benefits of fuzzy logic systems is that they may be designed using incomplete and approximated knowledge,

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resulting in simple and rapid estimations of uncertain or overly sophisticated models [15, 16].
The basic principle behind Fuzzy Logic control, which has shown to be a highly effective approach, is to create
life control expert model capable of controlling the process without needing to think in form of mathematical models.
The Mamdani approach is commonly employed in adaptive fuzzy logic controllers’ systems. As example, if X and Y
are the fuzzy system's inputs, and "F" is the control signal:
IF X is A1AND Y is B1THEN z=f1
IF X is A2AND Y is B2THEN z=f2
The output "F" can be constructed as:
ௐభ ௐమ
‫ ܨ‬ൌ ௐ ାௐ ݂ଵ ൅  ௐ ାௐ ݂ଶ …….. (25)
భ మ భ మ
Where: A1, A2, B1, B2 are the input membership functions, f1 and f2are the output singleton membership functions,
and W1 and W2 are the Degree Of Fulfillments (DOF) of rule 1 & 2, which can be adaptive to satisfied the input/output
data [15, 16]. As previously stated, selecting Membership Functions (MFs) and fuzzy rules for both output and input
variables does not always simple. Because there is no standard method for selecting Fuzzy Logic Control (FLC) factors,
adjusting them and learning methods has become an interesting matter in fuzzy logic control.

Fuzzy Logic Controller Design

The velocity cycle error signal has a characteristic that the fuzzy logic control mechanism observes and highly
compatible adjusts the control signal until the actual velocity (vact) equals the order velocity ( vdes). There are multiple
input signals to the fuzzy system
The error e = vac - vdes
And the change of error Δe (also it known as the future of error), which is related to the derivative of error de/dt.
In this case, a basic control scheme with two inputs and one output may be employed; three triangular memberships
were used for every input, and five triangular memberships were utilized for the output. A nine (3*3) "If" expression
rules were employed for such FLC. Adaptation the input/output membership positions is quite tough for someone who
has the necessary knowledge in dynamic systems. In such cases, the experimentation and error approach may be
utilized; Figure (2) shows the final acceptable range of input/output memberships after numerous experimentation and
error rounds in this study. Figure (3) depicts the system response with varying request velocities and a fuzzy controller
with full-load conditions.

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 (a) (b)

(c)

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FIGURE 2. (a),(b), (c) Adapting of Input/Output MFs.

FIGURE 3. System Performance of Adapting FLC.

Particle Swarm Optimization (PSO)

Eberhart and his colleagues were the first to suggest the Particle Swarm Optimization (PSO) optimization approach
[17, 18, and 19]. Depending on sociological theory, the PSO can handle a non-differentiability and non-linearity
challenge robustly. This approach is based on several studies on swarms, such as bird flocking or fish schooling.
Instead of utilizing evolutionary operators such as mutation and crossover to alter the PSO algorithm, population
dynamics replicates the behavior of a fish flock. The activity of a fish flock involves the transfer of social information;
the swarm symbolizes the population, and the particle symbolizes each partner. The Swarm is expected to fly in a
variety of directions based on the fitness function (F.F) [18, 20, 21, and 22].
For the optimization n-variables issue, a set of particles is placed in an n-dimensional seeking region field with
randomly chosen locations and velocities. So the optimum value of locations and velocities (Pbest) are known as the
better position and the optimal value acquired of the same particle [17, 22]. The velocity of flight may be changed
based on personal along with another particle flight knowledge. The ith particle, for example, is expressed, as:,
‫ݔ‬௜ ൌ ሺ‫ݔ‬௜ǡଵ ǡ ‫ݔ‬௜ǡଶ ǡ ‫ݔ‬௜ǡଷ ǡ ǥ ǥ Ǥ Ǥ ‫ݔ‬௜ǡ௡ ሻ ……….(26)

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 In n-dimensional space, the best previous position of the ith particle is recorded as:
ܲ௕௘௦௧೔ ൌ ሺܲ௕௘௦௧೔ǡభ ǡ ܲ௕௘௦௧೔ǡమ ǡ ܲ௕௘௦௧೔ǡయ ǥ ǥ Ǥ ܲ௕௘௦௧೔ǡ೙ ሻ …..(27)
The updated location and speed of each particle may be determined using the distance and current speed from
(ܲ௕௘௦௧೔ǡ೏ ) to (݃௕௘௦௧೏ ) as demonstrated by the equation [17, 18, 19, and 21]:
ሺூ௧Ǥାଵሻ ሺூ௧Ǥሻ ሺூ௧Ǥሻ ሺூ௧Ǥሻ
ܸ௜ǡ௠ ൌ ܹ ‫ܸ כ‬௜ǡ௠ ൅ ܿͳ ‫ כ ݀݊ܽݎ כ‬ቀܲ௕௘௦௧೔ǡ೘ െ ‫ݔ‬௜ǡ௠ ቁ ൅ ܿʹ ‫ כ ݀݊ܽݎ כ‬ሺ݃௕௘௦௧೘ െ ‫ݔ‬௜ǡ௠ ሻ …. (28)
ሺூ௧Ǥାଵሻ ሺூ௧Ǥሻ ሺூ௧Ǥሻ
‫ݔ‬௜ǡ௠ ൌ ‫ݔ‬௜ǡ௠ ൅ ‫ݒ‬௜ǡ௠ ………..(29)
i=1, 2, 3….., n
m=1, 2, 3….., d
Where;
n = Particles Number.
d = Area Space Dimension.
It. = Number of Iterations.
ሺூ௧Ǥሻ
ܸ௜ǡ௠ = Velocity of (i) particle at iteration (It).
W = Inertia factor.
c1,c2 = Acceleration Constant.
rand = Random number from 0 to 1.
ሺூ௧Ǥሻ
‫ݔ‬௜ǡ௠ = The Current location of particle i at iteration (It).
ܲ௕௘௦௧೔ = Best previous location of ith particle.
݃௕௘௦௧೘ = Global best particle in the population.

PSO Design for Fuzzy Logic Controller Adaptation

PSO design is complicated because response of the system must be checked in position of the particle and each

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iteration based on the PSO method described below. MATLAB is utilized to examine the overall system performance.
The objectives of this work is to improve each triangle membership by identifying three variables: center, right and
left corner. As a result, eighteen (6*3) variables must be adjusted for six memberships (of the input signals). As a
result, the particles (fish) have eighteen parameters, or particles should 'swim' in eighteen multidimensional regions.
To discover the optimal locations of the multiple input membership values, a random distribution of 15 particle
locations (for each dimension, 15 fish) is established, and a 20-iteration optimization approach is used. Most
intelligence proposed methods include performance criteria like Integrated Time Weight Square Error (ITSE),
Integrated Absolute Error (IAE), and Integrated Square Error (ISE) (ISE). This may be calculated analytically in the
frequency response [17, 19]. The primary drawback of this criterion is that it can be outperformed by the IAE and ISE
criterion. Because ISE criterion dals with all errors identically regardless of time, the drawback of minimizing IAE
and ISE might result in a response with a long settling time and a little overshot. The following are the criteria IAE,
ISE, and ITSE equations:[20,21].
௧ ஶ
‫ ܧܣܫ‬ൌ ‫׬‬଴ ȁ‫ݎ‬ሺ‫ݐ‬ሻ െ ‫ݕ‬ሺ‫ݐ‬ሻȁ݀‫ ݐ‬ൌ ‫׬‬଴ ȁ݁ሺ‫ݐ‬ሻȁ݀‫ݐ‬ ……..(30)
௧
‫ ܧܵܫ‬ൌ ‫׬‬଴ ݁ ଶ ሺ‫ݐ‬ሻ݀‫ݐ‬ ………….(31)
௧ ଶ ሺ‫ݐ‬ሻ݀‫ݐ‬
‫ ܧܵܶܫ‬ൌ ‫׬‬଴ ‫ݐ‬
‫݁כ‬ ……(32)
The optimal topic in this research is (ITSE) integrated time square error, which results in the fuzzy logic controller's
accuracy. Fitness Function (F.F) as shown in equation (33) may be examined to reduce total efficiency utilizing a set
of appropriate control factors that can provide the optimum path:[22,23]..
FF=β1fot+β2fq+β3fc+β4tim ……….(33)
The goal of optimization is to discover the set of variables that lower ff based on the factors values βi (i = 1,2, ..,
4).
The steady state error, Max. Overshot, rising time, and transient response quantities are affected by the ߚ value
which, if larger than 0.7, reduces the steady state error, Max. Overshot. If the ߚ value is less than 0.7, the rising and
settling time will be reduced. The PSO method is depicted in figure (4), and the goal function is to reduce the fitness
function FF. The finalized obtained placements of the membership functions from the particle swarm optimization
method are shown in figure (5) .Figure (6) demonstrates the efficiency of a PSO-based system at various order speeds.
:[23,24].

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 Start

Initial Fish Positions

Set the Parameters of MFs

Run the Fuzzy Controller System

Fitness Function
Calculation

Find the pest local position and the best global position

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Update Velocity and Position according to Best and global Positions

If
No Max iteration number reached?

Yes

End

FIGURE 4. Flowchart of PSO Algorithm

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 (a) (b)

(c)

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FIGURE 5. PSO Adapting of Input MFs

FIGURE 6. System Performance of PSO Adapting FLC

Figure (7) depicts all mass placed at the trailing edge of each connection as a particle moving for simplification.

FIGURE 7. The3-DOF robot

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 SIMULATION RESULTS
This section shows the results of the simulation by using MATLAB/Simulink of the 3-DOF robot manipulator
with PSO case. It is illustrated on applying 3-link robot which starts and end point coordinates will be as in the table
(1)
TABLE 1. starts and end point coordinate
X (m) Y (m) ࣂg (Deg.)
Start Point 0 2.26 81
End Point -2.1 0
The table (2) displays the robotic links configurations
TABLE 2. robot links parameters
Length Mass (kg) Max. Torque
(m) (N.m)
Link1 0.8 0.9 46
Link2 0.6 0.7 21
Link3 0.5 0.6 6
The velocities and accelerations of the start-end-configuration, on the other hand, are assumed to be zeros.
Furthermore, all of the robot's joints revolve 2π. The barrier is shaped like a circle having a diameter of 0.9 m. PSO
creates the Fuzzy Logic Controller's decision rules with the below range:
െߨ ൑  ߠ௜  ൑ ߨ Rad (i=1,2,3) ………… (34)
െߨ ൑  ߠ௚  ൑ ߨ Rad (i=1,2,3) ………… (35)
െߨȀͶ ൑  ߠ௚ሶ  ൑ ߨȀͶ Rad (i=1,2,3) ………… (36)
ͲǤͳ ൑  ‫ݐ‬௜  ൑ ͺǤͳ Sec (i=1,2) ………… (37)
Figures (8-11) show the outcomes of free space enhancement.

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FIGURE 8. Cartesian path for the robotic guidance system

FIGURE 9. Link angle in free areas

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 FIGURE 10. Joints velocity in free areas

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FIGURE 11. joints torque versus time in free workspace

FIGURE 12. Obstacle existence through the Cartesian path

FIGURE 13. Joint angle in the existence of an obstacle

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 FIGURE 14. Joint velocity in the existence of an obstacle

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FIGURE 15. Joint torque in the existence of an obstacle

Figures (12-15) illustrate the results of PSO improvement in the presence of an obstruction with parameters x=-
0.5, y=1.8. Figure 8 depicts the journey in Cartesian coordinates. The smallest path was from start to finish point,
although it is not the best outcome from the PSO improvement. Figures (9 and 12) and (10 and 13) illustrate the
optimal mid-joint angle and velocity, respectfully. Figures 10 and 12 illustrate the torque plotted versus of the joints
in free space as black dots. In Figures 11 and 13, the torque acquired with obstacle presence is larger than the joint
orientation in available space, and in both circumstances, the preset torque is not exceeded. Figure 12 depicts the use
of NAF-PSO and the presence of obstacles along the Cartesian track. Table 3 displays the values for total time, total
journey distance, and total trajectory length.
TABLE.3 simulation results
Free workspace Obstacle
workspace
Overall time (sec) 2.75 7.24
Overall distance (rad) 1.92 5.79
Overall trajectory length (m) 3.25 3.41

CONCLUSION AND FUTURE WORK

Figure (16) depicts a comparison result of the suggested PSO approach and the conventional adaptation approach
of the fuzzy logic controller, based on which the following recommendations may be drawn:
1. The suggested PSO adaptation approach is extremely computationally effective in terms of eliminating
processing time, straightforward to apply, and has a basic principle. In contrast to the traditional adapting
approach, which requires a lengthy adaptation period and a difficult operation.

020030-10
 2. The fuzzy system provides good system efficiency in the conventional adaptation method: maximum.
Overshot is 4% and 0% in high velocity, the rising time is 6 seconds, the system response is 6.5 seconds, and
the eSS = 0%.
3. The suggested PSO adaptation approach outperforms the competition, with maximum overshot = 0% in both
high and low velocity variations, rising time = 3 sec, response time = 3 sec, and eSS = 0%.
The suggested PSO adaptation approach achieves better speed tracking with non-sluggish performance and a more
stable control system than conventional FLC adaption.

Comparison Performance
1.2

Command Speed

0.8
Speed (p.u)

PSO Adapting MFs Performance

0.6
Ordinary Adapting MFs Performance

0.4

0.2

0
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

FIGURE 16. Comparison Performance

22 December 2023 17:58:58

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