Particle swarm optimization for identification of a flexible manipulator system
This paper presents an investigation of system identification using parametric modeling approaches for a single-link flexible manipulator system. The utilization of a particle swarm optimization (PSO) technique for modeling of a highly non-linear system is studied in comparison to the conventional r...
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my.utm.512372017-06-12T02:20:11Z http://eprints.utm.my/id/eprint/51237/ Particle swarm optimization for identification of a flexible manipulator system Hanim, Yatim Mat Darus, Intan Zaurah Muhammad Sukri, Hadi TJ Mechanical engineering and machinery This paper presents an investigation of system identification using parametric modeling approaches for a single-link flexible manipulator system. The utilization of a particle swarm optimization (PSO) technique for modeling of a highly non-linear system is studied in comparison to the conventional recursive least squares (RLS) technique. A simulation environment characterizing the dynamic behavior of the flexible manipulator system was first developed using finite difference (FD) approach to acquire the input-output data of the system. A bang-bang torque was applied as an input and the dynamic response of the system was investigated. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. Results demonstrate the advantages of PSO over RLS in parametric modeling. The developed model achieved will be used for control design and development in future work. 2013 Conference or Workshop Item PeerReviewed Hanim, Yatim and Mat Darus, Intan Zaurah and Muhammad Sukri, Hadi (2013) Particle swarm optimization for identification of a flexible manipulator system. In: IEEE Symposium on Computers and Informatics, ISCI 2013, 7-9 April 2013, Langkawi, Malaysia. http://dx.doi.org/10.1109/ISCI.2013.6612386 |
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TJ Mechanical engineering and machinery Hanim, Yatim Mat Darus, Intan Zaurah Muhammad Sukri, Hadi Particle swarm optimization for identification of a flexible manipulator system |
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This paper presents an investigation of system identification using parametric modeling approaches for a single-link flexible manipulator system. The utilization of a particle swarm optimization (PSO) technique for modeling of a highly non-linear system is studied in comparison to the conventional recursive least squares (RLS) technique. A simulation environment characterizing the dynamic behavior of the flexible manipulator system was first developed using finite difference (FD) approach to acquire the input-output data of the system. A bang-bang torque was applied as an input and the dynamic response of the system was investigated. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. Results demonstrate the advantages of PSO over RLS in parametric modeling. The developed model achieved will be used for control design and development in future work. |
format |
Conference or Workshop Item |
author |
Hanim, Yatim Mat Darus, Intan Zaurah Muhammad Sukri, Hadi |
author_facet |
Hanim, Yatim Mat Darus, Intan Zaurah Muhammad Sukri, Hadi |
author_sort |
Hanim, Yatim |
title |
Particle swarm optimization for identification of a flexible manipulator system |
title_short |
Particle swarm optimization for identification of a flexible manipulator system |
title_full |
Particle swarm optimization for identification of a flexible manipulator system |
title_fullStr |
Particle swarm optimization for identification of a flexible manipulator system |
title_full_unstemmed |
Particle swarm optimization for identification of a flexible manipulator system |
title_sort |
particle swarm optimization for identification of a flexible manipulator system |
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2013 |
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http://eprints.utm.my/id/eprint/51237/ http://dx.doi.org/10.1109/ISCI.2013.6612386 |
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