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/ http://irep.iium.edu.my/45171/ http://irep.iium.edu.my/45171/ 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

id	iium-45171
recordtype	eprints
spelling	iium-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 PeerReviewed 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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
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/ http://irep.iium.edu.my/45171/ http://irep.iium.edu.my/45171/ 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
first_indexed	2023-09-18T21:04:18Z
last_indexed	2023-09-18T21:04:18Z
_version_	1777410829988134912

Particle swarm optimization: based identification of a bouncing spherical robot

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