Research Article
Neuroendocrine-Based Cooperative Intelligent Control System for Multiobjective Integrated Control of a Parallel Manipulator
Table 2
Performance evaluation for subchannel experiment.
| (r/s) | |
1 |
5 |
10 |
20 |
40 |
50 | HRSM PID | PID | HRSM PID | PID | HRSM PID | PID | HRSM PID | PID | HRSM PID | PID |
| | Lower quartile | 0.0475 | 0.1575 | 0.18 | 0.2275 | 0.25 | 0.32 | 0.3 | 0.3575 | 0.32 | 0.4275 | 0.3575 | 0.48 | | Median | 0.06 | 0.175 | 0.2 | 0.245 | 0.265 | 0.33 | 0.32 | 0.375 | 0.33 | 0.43 | 0.38 | 0.5 | (s) | Upper quartile | 0.0725 | 0.185 | 0.22 | 0.2525 | 0.285 | 0.3525 | 0.34 | 0.385 | 0.3525 | 0.4525 | 0.4 | 0.54 | | Average | 0.061 | 0.175 | 0.201 | 0.246 | 0.272 | 0.335 | 0.324 | 0.37 | 0.336 | 0.439 | 0.379 | 0.506 | | Variance | 0.000309 | 0.000445 | 0.000369 | 0.000484 | 0.000496 | 0.000445 | 0.000384 | 0.00052 | 0.000524 | 0.000589 | 0.000609 | 0.000964 |
| | Lower quartile | 0.06 | 0.095 | 0.0375 | 0.1675 | 0.04 | 0.16 | 0.02 | 0.0575 | 0.0175 | 0.04 | 0.01 | 0.03 | | Median | 0.08 | 0.12 | 0.04 | 0.185 | 0.055 | 0.19 | 0.04 | 0.075 | 0.02 | 0.045 | 0.02 | 0.04 | (r/s) | Upper quartile | 0.1 | 0.14 | 0.06 | 0.225 | 0.0775 | 0.22 | 0.05 | 0.1 | 0.04 | 0.06 | 0.025 | 0.0525 | | Average | 0.079 | 0.12 | 0.049 | 0.195 | 0.11 | 0.192 | 0.038 | 0.077 | 0.024 | 0.049 | 0.021 | 0.045 | | Variance | 0.000449 | 0.00064 | 0.000449 | 0.001165 | 0.027 | 0.000736 | 0.000176 | 0.000501 | 0.000124 | 0.000249 | 0.000109 | 0.000225 |
| | Lower quartile | 0.05 | 0.08 | 0.08 | 0.215 | 0.06 | 0.195 | 0.04 | 0.08 | 0.03 | 0.06 | 0.02 | 0.0475 | | Median | 0.06 | 0.105 | 0.1 | 0.245 | 0.08 | 0.22 | 0.05 | 0.1 | 0.04 | 0.065 | 0.035 | 0.06 | (r/s) | Upper quartile | 0.085 | 0.12 | 0.1275 | 0.2525 | 0.085 | 0.2575 | 0.0625 | 0.12 | 0.045 | 0.08 | 0.04 | 0.08 | | Average | 0.068 | 0.102 | 0.103 | 0.237 | 0.078 | 0.225 | 0.052 | 0.099 | 0.04 | 0.066 | 0.033 | 0.063 | | Variance | 0.000576 | 0.000656 | 0.000921 | 0.001021 | 0.000376 | 0.001705 | 0.000256 | 0.000609 | 0.00014 | 0.000144 | 0.000181 | 0.000321 |
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