Hub Angle Control for A Single Link Flexible Manipulator Based on Cuckoo Search Algorithm
Flexible manipulators are one of the promising devices that can be applied in many fields especially in automation and manufacturing fields as they are designed to reduce energy consumption and increase the speed of operation. However, agitation process experienced in the complex structure of t...
Saved in:
Main Authors: | , , , , , |
---|---|
Format: | Proceeding |
Language: | English |
Published: |
2021
|
Subjects: | |
Online Access: | http://ir.unimas.my/id/eprint/36203/1/flexible1.pdf http://ir.unimas.my/id/eprint/36203/ https://ieeexplore.ieee.org/document/9526319 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
id |
my.unimas.ir.36203 |
---|---|
record_format |
eprints |
spelling |
my.unimas.ir.362032023-03-29T07:07:53Z http://ir.unimas.my/id/eprint/36203/ Hub Angle Control for A Single Link Flexible Manipulator Based on Cuckoo Search Algorithm aiman Azrael, Shaiful Nahar Sukri Siti Sarah Zahidah, Nazri Muhamad Sukri, Hadi Annisa, Jamali Hanim, Mohd Yatim Intan Zaurah, Mat Darus TJ Mechanical engineering and machinery Flexible manipulators are one of the promising devices that can be applied in many fields especially in automation and manufacturing fields as they are designed to reduce energy consumption and increase the speed of operation. However, agitation process experienced in the complex structure of the system which causes unwanted vibration will affect the precision of operation. Thus, an efficient control system is required to make them functional. Therefore, the development of an accurate model of flexible manipulator was presented prior to establishing active vibration control to suppress the vibration and increase efficiency of the system. This paper presents the development of a Proportional-IntegralDerivative controller based on cuckoo search algorithm for a single link flexible manipulator system. Initially, the system was modelled using input and output experimental data of the hub angle. System identification was implemented via swarm intelligence algorithm known as cuckoo search algorithms based on auto regressive with exogenous model structure. Then, the performance of proposed algorithms was validated based on three robustness methods known as mean squared error, pole zero diagram stability and correlation tests. The simulation results showed superior performance of cuckoo search algorithm by achieving lowest mean squared error, good correlation tests and high root locus stability. Then, the cuckoo search model was implemented in the proposed control scheme with the aim of accurate positioning at the end point of flexible manipulator. 2021-09-06 Proceeding PeerReviewed text en http://ir.unimas.my/id/eprint/36203/1/flexible1.pdf aiman Azrael, Shaiful Nahar Sukri and Siti Sarah Zahidah, Nazri and Muhamad Sukri, Hadi and Annisa, Jamali and Hanim, Mohd Yatim and Intan Zaurah, Mat Darus (2021) Hub Angle Control for A Single Link Flexible Manipulator Based on Cuckoo Search Algorithm. In: 2021 IEEE 7th International Conference on Smart Instrumentation, Measurement and Applications (ICSIMA), 23-25 Aug. 2021, Bandung, Indonesia. https://ieeexplore.ieee.org/document/9526319 |
institution |
Universiti Malaysia Sarawak |
building |
Centre for Academic Information Services (CAIS) |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Malaysia Sarawak |
content_source |
UNIMAS Institutional Repository |
url_provider |
http://ir.unimas.my/ |
language |
English |
topic |
TJ Mechanical engineering and machinery |
spellingShingle |
TJ Mechanical engineering and machinery aiman Azrael, Shaiful Nahar Sukri Siti Sarah Zahidah, Nazri Muhamad Sukri, Hadi Annisa, Jamali Hanim, Mohd Yatim Intan Zaurah, Mat Darus Hub Angle Control for A Single Link Flexible Manipulator Based on Cuckoo Search Algorithm |
description |
Flexible manipulators are one of the promising
devices that can be applied in many fields especially in
automation and manufacturing fields as they are designed to
reduce energy consumption and increase the speed of operation.
However, agitation process experienced in the complex
structure of the system which causes unwanted vibration will
affect the precision of operation. Thus, an efficient control
system is required to make them functional. Therefore, the
development of an accurate model of flexible manipulator was
presented prior to establishing active vibration control to
suppress the vibration and increase efficiency of the system.
This paper presents the development of a Proportional-IntegralDerivative controller based on cuckoo search algorithm for a
single link flexible manipulator system. Initially, the system was
modelled using input and output experimental data of the hub
angle. System identification was implemented via swarm
intelligence algorithm known as cuckoo search algorithms based
on auto regressive with exogenous model structure. Then, the
performance of proposed algorithms was validated based on
three robustness methods known as mean squared error, pole
zero diagram stability and correlation tests. The simulation
results showed superior performance of cuckoo search
algorithm by achieving lowest mean squared error, good
correlation tests and high root locus stability. Then, the cuckoo
search model was implemented in the proposed control scheme
with the aim of accurate positioning at the end point of flexible
manipulator. |
format |
Proceeding |
author |
aiman Azrael, Shaiful Nahar Sukri Siti Sarah Zahidah, Nazri Muhamad Sukri, Hadi Annisa, Jamali Hanim, Mohd Yatim Intan Zaurah, Mat Darus |
author_facet |
aiman Azrael, Shaiful Nahar Sukri Siti Sarah Zahidah, Nazri Muhamad Sukri, Hadi Annisa, Jamali Hanim, Mohd Yatim Intan Zaurah, Mat Darus |
author_sort |
aiman Azrael, Shaiful Nahar Sukri |
title |
Hub Angle Control for A Single Link Flexible
Manipulator Based on Cuckoo Search Algorithm |
title_short |
Hub Angle Control for A Single Link Flexible
Manipulator Based on Cuckoo Search Algorithm |
title_full |
Hub Angle Control for A Single Link Flexible
Manipulator Based on Cuckoo Search Algorithm |
title_fullStr |
Hub Angle Control for A Single Link Flexible
Manipulator Based on Cuckoo Search Algorithm |
title_full_unstemmed |
Hub Angle Control for A Single Link Flexible
Manipulator Based on Cuckoo Search Algorithm |
title_sort |
hub angle control for a single link flexible
manipulator based on cuckoo search algorithm |
publishDate |
2021 |
url |
http://ir.unimas.my/id/eprint/36203/1/flexible1.pdf http://ir.unimas.my/id/eprint/36203/ https://ieeexplore.ieee.org/document/9526319 |
_version_ |
1762396693387542528 |
score |
13.160551 |