Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator
The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of doublelink flexible robotic manipulator. The system was modeled using multi-layer perceptron neural network structure based on Nonlinear Aut...
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2018
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Online Access: | http://ir.unimas.my/id/eprint/23460/1/Implementation%20of%20PID%20Based%20Controller%20Tuned%20by%20Evolutionary%20%28abs%29.pdf http://ir.unimas.my/id/eprint/23460/ https://www.researchgate.net/publication/328460242_Implementation_of_PID_Based_Controller_Tuned_by_Evolutionary_Algorithm_for_Double_Link_Flexible_Robotic_Manipulator |
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my.unimas.ir.234602024-01-24T03:43:22Z http://ir.unimas.my/id/eprint/23460/ Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator Annisa, Jamali Intan Zaurah, Mat Darus Shahrol, Mohamaddan Mohammad Osman, Tokhi TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of doublelink 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. 2018 Proceeding PeerReviewed text en http://ir.unimas.my/id/eprint/23460/1/Implementation%20of%20PID%20Based%20Controller%20Tuned%20by%20Evolutionary%20%28abs%29.pdf Annisa, Jamali and Intan Zaurah, Mat Darus and Shahrol, Mohamaddan and Mohammad Osman, Tokhi (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), August 2018, Kuching, Malaysia. https://www.researchgate.net/publication/328460242_Implementation_of_PID_Based_Controller_Tuned_by_Evolutionary_Algorithm_for_Double_Link_Flexible_Robotic_Manipulator |
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TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Annisa, Jamali Intan Zaurah, Mat Darus Shahrol, Mohamaddan Mohammad Osman, Tokhi Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator |
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The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of doublelink 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. |
format |
Proceeding |
author |
Annisa, Jamali Intan Zaurah, Mat Darus Shahrol, Mohamaddan Mohammad Osman, Tokhi |
author_facet |
Annisa, Jamali Intan Zaurah, Mat Darus Shahrol, Mohamaddan Mohammad Osman, Tokhi |
author_sort |
Annisa, Jamali |
title |
Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator |
title_short |
Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator |
title_full |
Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator |
title_fullStr |
Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator |
title_full_unstemmed |
Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator |
title_sort |
implementation of pid based controller tuned by evolutionary algorithm for double link flexible robotic manipulator |
publishDate |
2018 |
url |
http://ir.unimas.my/id/eprint/23460/1/Implementation%20of%20PID%20Based%20Controller%20Tuned%20by%20Evolutionary%20%28abs%29.pdf http://ir.unimas.my/id/eprint/23460/ https://www.researchgate.net/publication/328460242_Implementation_of_PID_Based_Controller_Tuned_by_Evolutionary_Algorithm_for_Double_Link_Flexible_Robotic_Manipulator |
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1789430299669561344 |
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13.160551 |