PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator

• Main Authors: Mohd Ikhmil Fadzrizan, Mohd Hanif, Ahmad, Mohd Ashraf, Jui, Julakha Jahan
• Format: Article
• Language: English
• Published: International Information and Engineering Technology Association 2021
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/32599/1/54.05_04.pdf; http://umpir.ump.edu.my/id/eprint/32599/; https://www.iieta.org/journals/jesa/paper/10.18280/jesa.540504

This paper proposed the chaotic safe experimentation dynamics algorithm (CSEDA) to regulate angular tracking and vibration of the self-tuning PID controller for elastic joint manipulators. CSEDA was a modified version of the safe experimentation dynamics algorithm (SEDA) that used a chaos function in the updated equation. The chaos function increased the exploration capability, thus improving the convergence accuracy. In this study, two self-tuning PID controllers were used to regulate the rotating angle tracking and vibration for elastic joint manipulators in this control challenge. The suggested self-tuning PID controller's performance was evaluated in angular motion trajectory tracking, vibration suppression, and the pre-determined control fitness function. A self-tuned PID controller based on CSEDA could achieve superior control accuracy than a traditional SEDA and its variants.