Application of cuckoo search algorithm to constrained control problem of a parallel robot platform

This paper presents a cascade load force control design for a parallel robot platform. A parameter search for a proposed cascade controller is difficult because there is no methodology to set the parameters and the search space is broad. A parameter search based on cuckoo search (CS) is suggested to effectively search parameters of the cascade controllers. 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 optimal results are compared to the state-of-the-art algorithms for these problem instances (NP-hard and constrained optimization problems). Simulation results also show that applied optimal tuned cascade control algorithm exhibits a significant performance improvement over classical tuning methods.