Implementation of Particle Swarm Optimization for Solving Optimal Control Problem of a Flexible Robotic Manipulator

Abstract

This paper proposes using particle swarm optimization (PSO) to solve the optimal control problem (OCP) in the form of an ordinary differential equation (ODE). For state functions, these standard differential equations are linear to regulated coefficients. Because of the ordinary bilinear differential equations, optimal control methods are commonly used for these problems by considering the proposed performance index and a flexible manipulator as a model. A flexible manipulator (SLFM) is taken to use Optimization techniques (PSO) to assess and measure its performance. The results obtained by the PSO are compared with the DE, which has shown prominent results.