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...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English English English |
| Published: |
IEEE
2015
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| Subjects: | |
| Online Access: | 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 |
| _version_ | 1848782743300734976 |
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| author | Abdullah, Muhammad Amirul Ahmad, Salmiah Toha, Siti Fauziah |
| author_facet | Abdullah, Muhammad Amirul Ahmad, Salmiah Toha, Siti Fauziah |
| author_sort | Abdullah, Muhammad Amirul |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T16:10:18Z |
| format | Proceeding Paper |
| id | iium-45171 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English English |
| last_indexed | 2025-11-14T16:10:18Z |
| publishDate | 2015 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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 Proceeding Paper 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 |
| spellingShingle | TJ212 Control engineering Abdullah, Muhammad Amirul Ahmad, Salmiah Toha, Siti Fauziah Particle swarm optimization: based identification of a bouncing spherical robot |
| title | 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_short | Particle swarm optimization: based identification of
a bouncing spherical robot |
| title_sort | particle swarm optimization: based identification of
a bouncing spherical robot |
| topic | TJ212 Control engineering |
| 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 |