Particle swarm optimization in an online adaptive controller

Abstract

ABSTRACT: This bachellor thesis presents a particle swarm optimization (PSO) algorithm in MatLab language to check its behavior in the velocity controller of a robotic arm, to demonstrate that this type of algorithm can be used in dynamic and uncertain environments. The robot only has one degree of freedom. Starting from the previous work provided by in [7] and [8] we will be able to compare the behavior of this algorithm with that of a PI controller.