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

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018
出版社Institute of Electrical and Electronics Engineers Inc.
ISBN(電子版)9781538683699
DOI
出版ステータスPublished - 2018 9月 28
外部発表はい
イベント2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018 - Kuching, Serawak, Malaysia
継続期間: 2018 8月 152018 8月 17

出版物シリーズ

名前2018 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
国/地域Malaysia
CityKuching, Serawak
Period18/8/1518/8/17

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 生体医工学
  • 制御およびシステム工学
  • 機械工学
  • 制御と最適化

フィンガープリント

「Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル