Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms

This study compares the performances of the GA-FOPID and MOGA-FOPID controllers, which are Fractional Order Proportional-Integral-Derivative (FOPID) controllers tuned using genetic algorithm and multiple-objective genetic algorithm for position tracking accuracy of robotic manipulator, respectively....

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Main Authors: Hambali, Nurul Faqihah, Norsahperi, Nor Mohd Haziq, Mohd Hisban, Mas Athirah, Hassan, Mohd Khair, Wan Hasan, Wan Zuha, Ismail, Luthffi Idzhar, Ramli, Hafiz Rashidi
Format: Conference or Workshop Item
Published: Springer 2023
Online Access:http://psasir.upm.edu.my/id/eprint/108366/
https://link.springer.com/chapter/10.1007/978-981-99-8819-8_47
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spelling my.upm.eprints.1083662024-11-18T07:57:51Z http://psasir.upm.edu.my/id/eprint/108366/ Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms Hambali, Nurul Faqihah Norsahperi, Nor Mohd Haziq Mohd Hisban, Mas Athirah Hassan, Mohd Khair Wan Hasan, Wan Zuha Ismail, Luthffi Idzhar Ramli, Hafiz Rashidi This study compares the performances of the GA-FOPID and MOGA-FOPID controllers, which are Fractional Order Proportional-Integral-Derivative (FOPID) controllers tuned using genetic algorithm and multiple-objective genetic algorithm for position tracking accuracy of robotic manipulator, respectively. The tuning process of six control gains in the three FOPID controllers is technically challenging to achieve high position accuracy of robotic manipulator. This study is performed to objectively assess the performances of genetic algorithm and multiple-objective genetic algorithm in tuning the six control gains in the FOPID controller. From the simulation study, it is interesting to note that the GA-FOPID and MOGA-FOPID controllers produce approximately 4.18 and 4.37 reductions of the mean square error in the angular position accuracy response of robotic manipulator as compared with the GA-PID controller. It is envisaged that the GA-FOPID and MOGA-FOPID controllers can be useful in designing effective position tracking accuracy of robotic manipulators. Springer 2023 Conference or Workshop Item PeerReviewed Hambali, Nurul Faqihah and Norsahperi, Nor Mohd Haziq and Mohd Hisban, Mas Athirah and Hassan, Mohd Khair and Wan Hasan, Wan Zuha and Ismail, Luthffi Idzhar and Ramli, Hafiz Rashidi (2023) Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms. In: Intelligent Manufacturing and Mechatronics. iM3F 2023, 7-8 August 2023, Pekan, Malaysia. (pp. 1-9). https://link.springer.com/chapter/10.1007/978-981-99-8819-8_47 10.1007/978-981-99-8819-8_47
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
description This study compares the performances of the GA-FOPID and MOGA-FOPID controllers, which are Fractional Order Proportional-Integral-Derivative (FOPID) controllers tuned using genetic algorithm and multiple-objective genetic algorithm for position tracking accuracy of robotic manipulator, respectively. The tuning process of six control gains in the three FOPID controllers is technically challenging to achieve high position accuracy of robotic manipulator. This study is performed to objectively assess the performances of genetic algorithm and multiple-objective genetic algorithm in tuning the six control gains in the FOPID controller. From the simulation study, it is interesting to note that the GA-FOPID and MOGA-FOPID controllers produce approximately 4.18 and 4.37 reductions of the mean square error in the angular position accuracy response of robotic manipulator as compared with the GA-PID controller. It is envisaged that the GA-FOPID and MOGA-FOPID controllers can be useful in designing effective position tracking accuracy of robotic manipulators.
format Conference or Workshop Item
author Hambali, Nurul Faqihah
Norsahperi, Nor Mohd Haziq
Mohd Hisban, Mas Athirah
Hassan, Mohd Khair
Wan Hasan, Wan Zuha
Ismail, Luthffi Idzhar
Ramli, Hafiz Rashidi
spellingShingle Hambali, Nurul Faqihah
Norsahperi, Nor Mohd Haziq
Mohd Hisban, Mas Athirah
Hassan, Mohd Khair
Wan Hasan, Wan Zuha
Ismail, Luthffi Idzhar
Ramli, Hafiz Rashidi
Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms
author_facet Hambali, Nurul Faqihah
Norsahperi, Nor Mohd Haziq
Mohd Hisban, Mas Athirah
Hassan, Mohd Khair
Wan Hasan, Wan Zuha
Ismail, Luthffi Idzhar
Ramli, Hafiz Rashidi
author_sort Hambali, Nurul Faqihah
title Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms
title_short Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms
title_full Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms
title_fullStr Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms
title_full_unstemmed Tuning of FOPID controller for robotic manipulator using genetic and multiple-objective genetic algorithms
title_sort tuning of fopid controller for robotic manipulator using genetic and multiple-objective genetic algorithms
publisher Springer
publishDate 2023
url http://psasir.upm.edu.my/id/eprint/108366/
https://link.springer.com/chapter/10.1007/978-981-99-8819-8_47
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score 13.214268