Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator

J. Annisa, I. Z. Mat Darus, M. O. Tokhi, S. Mohamaddan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of double-link flexible robotic manipulator. The system was modeled using multi-layer perceptron neural network structure based on Nonlinear Autoregressive Exogenous (NARX) model. The hybrid controllers are incorporated with optimization algorithm that is ABC and PSO to find out the parameters of the PID controllers. Numerical simulation was carried out in MATLAB/Simulink to evaluate the system in term of tracking capability and vibration suppression for both links. Performance of the controllers are compared with the hybrid PID-PID Ziegler Nichols (ZN) controller in term of input tracking and vibration suppression. The results show that PSO revealed the superiority over ABC in controlling the system. The system managed to reach desired angle for both hub at lower overshoot using proposed method. Meanwhile, the vibration reduction shows great improvement for both link 1 and 2. This signifies that, the PSO algorithm is very effective in optimizing the PID parameters.

Original languageEnglish
Title of host publication2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538683699
DOIs
Publication statusPublished - 2018 Sep 28
Externally publishedYes
Event2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018 - Kuching, Serawak, Malaysia
Duration: 2018 Aug 152018 Aug 17

Publication series

Name2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018

Conference

Conference2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018
CountryMalaysia
CityKuching, Serawak
Period18/8/1518/8/17

Keywords

  • Artificial Bees Algoritmn
  • Flexible Manipulator
  • Neural Network
  • Particle Swarm Optimization
  • Vibration suppression

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Annisa, J., Mat Darus, I. Z., Tokhi, M. O., & Mohamaddan, S. (2018). Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator. In 2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018 [8477615] (2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASSDA.2018.8477615