Towards Hybrid Meta-Heuristic Analysis for the Optimization of Fundamental Performance in Robotic Systems

This paper examines the concept of implementing a hybrid optimization approach through combining analytical and meta-heuristic approaches to improve the performance of practical engineering systems. Designed in support of artificial intelligence strategy, the proposed approach ensures high stability and efficiency under actuators saturation constraint. This is a well-known and sensitive problem in robotics and control. Specifically, this paper deals with the problem of computing the stability region for controlled systems. While addressing this issue, research approaches take into consideration the fact that actuator saturation may occur. It is imperative to maintain this propriety and ensure the reliability of design control systems, particularly those developed to control robot actuators. Models of the studied systems are based on differential algebraic representations and polytypic regions in state space. The developed technique com-bines LMI with an improved meta-heuristic based optimization approach that fast searches and enlarge domains of attraction for robot actuators. The direct Lyapunov theory is used to analyze and validate stability key performance. A numerical example study has been conducted to validate the proposed approach’s efficacy and efficiency. A comparative benchmarking study has been carried out to highlight the main concepts and results of this study.

@article{Dabbaghi2025,
  title     = {Towards Hybrid Meta-Heuristic Analysis for the Optimization of Fundamental Performance in Robotic Systems},
  journal   = {International Journal of Advanced Computer Science and Applications},
  volume    = {16},
  number    = {4},
  year      = {2025},
  publisher = {The Science and Information Organization},
  author    = {Boudour Dabbaghi and Faical Hamidi and Mohamed Aoun and Houssem Jerbi},
  doi       = {10.14569/IJACSA.2025.01604108},
  url       = {https://doi.org/10.14569/IJACSA.2025.01604108}
}