Journal of Optimization Theory and Applications

, Volume 168, Issue 1, pp 332–347 | Cite as

A Nature Inspired Parameter Tuning Approach to Cascade Control for Hydraulically Driven Parallel Robot Platform

  • Vladimir Stojanovic
  • Novak Nedic


This paper presents the optimal tuning of cascade load force controllers for a parallel robot platform. A parameter search for the proposed cascade controller is difficult because there is no methodology to set the parameters and the search space is broad. The proposed parameter search scheme is based on a bat algorithm, which attracts a lot of attention in the evolutionary computation area due to the empirical evidence of its superiority in solving various nonconvex problems. The control design problem is formulated as an optimization problem under constraints. Typical constraints, such as mechanical limits on positions and maximal velocities of hydraulic actuators as well as on servo-valve positions, are included in the proposed algorithm. The simulation results indicate that the proposed optimal tuned cascade control is effective and efficient. These results clearly demonstrate that applied techniques exhibit a significant performance improvement over classical tuning methods.


Controller tuning Constrained optimization Cascade control Bat algorithm Parallel robot platform 

Mathematics Subject Classification

68T40 68T20 93C10 93C35 



The authors would like to express their gratitude to reviewers for their very useful comments and suggestions to improve this paper. This research has been supported by the Serbian Ministry of Education, Science and Technological Development through projects TR33026 and TR33027.


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Copyright information

© Springer Science+Business Media New York 2015

Authors and Affiliations

  1. 1.Department of Automatic Control, Robotics and Fluid Technique, The Faculty of Mechanical and Civil Engineering in KraljevoUniversity of KragujevacKraljevoSerbia

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