Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator
This paper presents a Spiral-based Manta Ray Foraging Algorithm (SMRFO). It is an improvement of Manta Ray Foraging Algorithm (MRFO). The original MRFO has a competitive performance in terms of its accuracy in locating an optimal solution. Its performance can be improved further provided the balance...
| Main Authors: | , , , , , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2020
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/35298/ http://umpir.ump.edu.my/id/eprint/35298/1/Spiral-based%20manta%20ray%20foraging%20optimization%20to%20optimize%20PID%20control_FULL.pdf http://umpir.ump.edu.my/id/eprint/35298/7/Spiral-based%20manta%20ray%20foraging%20optimization%20to%20optimize%20PID%20control%20.pdf |
| _version_ | 1848824741167628288 |
|---|---|
| author | Abd Razak, Ahmad Azwan Nasir, Ahmad Nor Kasruddin Abd Ghani, N. M. Mhd Rizal, Nurul Amira Mat Jusof, Mohd Falfazli Muhamad, Ikhwan Hafiz |
| author_facet | Abd Razak, Ahmad Azwan Nasir, Ahmad Nor Kasruddin Abd Ghani, N. M. Mhd Rizal, Nurul Amira Mat Jusof, Mohd Falfazli Muhamad, Ikhwan Hafiz |
| author_sort | Abd Razak, Ahmad Azwan |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper presents a Spiral-based Manta Ray Foraging Algorithm (SMRFO). It is an improvement of Manta Ray Foraging Algorithm (MRFO). The original MRFO has a competitive performance in terms of its accuracy in locating an optimal solution. Its performance can be improved further provided the balanced exploration and exploitation strategies throughout a search operation are improved. A modification in the Somersault phase of the MRFO is proposed. A spiral strategy is incorporated into the Somersault phase of the MRFO. This is to guide all agents toward the best agent in spiral-based trajectory in every iteration. The spiral strategy also offers a dynamic step size scheme for all search agents during the operation. The proposed algorithm is tested on a set of benchmark functions that consist of various fitness landscapes. In terms of solving an engineering application, the proposed algorithm is applied to optimize a PID controller for a flexible manipulator system. Result of the accuracy performance test on benchmark functions shows that the proposed algorithm outperforms the original MRFO significantly. In solving the engineering problem, both SMRFO and MRFO optimize the PID control adequately good. The SMRFO-PID control tracks the bang-bang test input better than the MRFO-PID. It confirms the superiority of the SMRFO over the MRFO. |
| first_indexed | 2025-11-15T03:17:51Z |
| format | Conference or Workshop Item |
| id | ump-35298 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T03:17:51Z |
| publishDate | 2020 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-352982022-10-03T02:49:41Z http://umpir.ump.edu.my/id/eprint/35298/ Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator Abd Razak, Ahmad Azwan Nasir, Ahmad Nor Kasruddin Abd Ghani, N. M. Mhd Rizal, Nurul Amira Mat Jusof, Mohd Falfazli Muhamad, Ikhwan Hafiz TK Electrical engineering. Electronics Nuclear engineering This paper presents a Spiral-based Manta Ray Foraging Algorithm (SMRFO). It is an improvement of Manta Ray Foraging Algorithm (MRFO). The original MRFO has a competitive performance in terms of its accuracy in locating an optimal solution. Its performance can be improved further provided the balanced exploration and exploitation strategies throughout a search operation are improved. A modification in the Somersault phase of the MRFO is proposed. A spiral strategy is incorporated into the Somersault phase of the MRFO. This is to guide all agents toward the best agent in spiral-based trajectory in every iteration. The spiral strategy also offers a dynamic step size scheme for all search agents during the operation. The proposed algorithm is tested on a set of benchmark functions that consist of various fitness landscapes. In terms of solving an engineering application, the proposed algorithm is applied to optimize a PID controller for a flexible manipulator system. Result of the accuracy performance test on benchmark functions shows that the proposed algorithm outperforms the original MRFO significantly. In solving the engineering problem, both SMRFO and MRFO optimize the PID control adequately good. The SMRFO-PID control tracks the bang-bang test input better than the MRFO-PID. It confirms the superiority of the SMRFO over the MRFO. 2020 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/35298/1/Spiral-based%20manta%20ray%20foraging%20optimization%20to%20optimize%20PID%20control_FULL.pdf pdf en http://umpir.ump.edu.my/id/eprint/35298/7/Spiral-based%20manta%20ray%20foraging%20optimization%20to%20optimize%20PID%20control%20.pdf Abd Razak, Ahmad Azwan and Nasir, Ahmad Nor Kasruddin and Abd Ghani, N. M. and Mhd Rizal, Nurul Amira and Mat Jusof, Mohd Falfazli and Muhamad, Ikhwan Hafiz (2020) Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator. In: 2020 International Conference on Emerging Technology in Computing, Communication and Electronics, ETCCE 2020 , 21 - 22 December 2020 , Virtual, Dhaka. pp. 1-6. (9350871). ISBN 978-166541962-8 (Published) https://doi.org/ 10.1109/ETCCE51779.2020.9350871 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Abd Razak, Ahmad Azwan Nasir, Ahmad Nor Kasruddin Abd Ghani, N. M. Mhd Rizal, Nurul Amira Mat Jusof, Mohd Falfazli Muhamad, Ikhwan Hafiz Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator |
| title | Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator |
| title_full | Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator |
| title_fullStr | Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator |
| title_full_unstemmed | Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator |
| title_short | Spiral-based manta ray foraging optimization to optimize PID control of a flexible manipulator |
| title_sort | spiral-based manta ray foraging optimization to optimize pid control of a flexible manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/35298/ http://umpir.ump.edu.my/id/eprint/35298/ http://umpir.ump.edu.my/id/eprint/35298/1/Spiral-based%20manta%20ray%20foraging%20optimization%20to%20optimize%20PID%20control_FULL.pdf http://umpir.ump.edu.my/id/eprint/35298/7/Spiral-based%20manta%20ray%20foraging%20optimization%20to%20optimize%20PID%20control%20.pdf |