Evolutionary algorithm for identification of a flexible single-link manipulator system
This study presents an investigation into dynamic modelling of a flexible single-link manipulator system using differential evolutionary technique (DE) and particle swarm optimization technique (PSO). Details of simulation study, Model Selection, optimization and result analysis are given in this st...
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my.utm.551332017-02-15T07:39:37Z http://eprints.utm.my/id/eprint/55133/ Evolutionary algorithm for identification of a flexible single-link manipulator system Al-khafaji, Ali A. M. Shaharuddin, Nik Mohd. Ridzuan Mat Darus, Intan Zaurah TJ Mechanical engineering and machinery This study presents an investigation into dynamic modelling of a flexible single-link manipulator system using differential evolutionary technique (DE) and particle swarm optimization technique (PSO). Details of simulation study, Model Selection, optimization and result analysis are given in this study. The input-output data of the system were first acquired through the simulation study using finite element method (FDM) based on Lagrangian approach. A bang-bang torque was applied as an input and the dynamic responses of the system were investigated. Next, an appropriate model structure was chosen and optimized using DE and PSO. One Step Ahead (OSA) prediction, correlation tests and mean squared error (MSE) have been performed for validation and verification of the obtained model in characterizing the manipulator system. Furthermore, an unseen data was used to observe the prediction ability of the model. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. Results demonstrate the advantages of DE over PSO in parametric modeling of the flexible manipulator system used in this study. World Scientific and Engineering Academy and Society 2015 Article PeerReviewed Al-khafaji, Ali A. M. and Shaharuddin, Nik Mohd. Ridzuan and Mat Darus, Intan Zaurah (2015) Evolutionary algorithm for identification of a flexible single-link manipulator system. WSEAS Transactions on Systems and Control, 10 . pp. 58-75. ISSN 1991-8763 |
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TJ Mechanical engineering and machinery Al-khafaji, Ali A. M. Shaharuddin, Nik Mohd. Ridzuan Mat Darus, Intan Zaurah Evolutionary algorithm for identification of a flexible single-link manipulator system |
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This study presents an investigation into dynamic modelling of a flexible single-link manipulator system using differential evolutionary technique (DE) and particle swarm optimization technique (PSO). Details of simulation study, Model Selection, optimization and result analysis are given in this study. The input-output data of the system were first acquired through the simulation study using finite element method (FDM) based on Lagrangian approach. A bang-bang torque was applied as an input and the dynamic responses of the system were investigated. Next, an appropriate model structure was chosen and optimized using DE and PSO. One Step Ahead (OSA) prediction, correlation tests and mean squared error (MSE) have been performed for validation and verification of the obtained model in characterizing the manipulator system. Furthermore, an unseen data was used to observe the prediction ability of the model. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. Results demonstrate the advantages of DE over PSO in parametric modeling of the flexible manipulator system used in this study. |
format |
Article |
author |
Al-khafaji, Ali A. M. Shaharuddin, Nik Mohd. Ridzuan Mat Darus, Intan Zaurah |
author_facet |
Al-khafaji, Ali A. M. Shaharuddin, Nik Mohd. Ridzuan Mat Darus, Intan Zaurah |
author_sort |
Al-khafaji, Ali A. M. |
title |
Evolutionary algorithm for identification of a flexible single-link manipulator system |
title_short |
Evolutionary algorithm for identification of a flexible single-link manipulator system |
title_full |
Evolutionary algorithm for identification of a flexible single-link manipulator system |
title_fullStr |
Evolutionary algorithm for identification of a flexible single-link manipulator system |
title_full_unstemmed |
Evolutionary algorithm for identification of a flexible single-link manipulator system |
title_sort |
evolutionary algorithm for identification of a flexible single-link manipulator system |
publisher |
World Scientific and Engineering Academy and Society |
publishDate |
2015 |
url |
http://eprints.utm.my/id/eprint/55133/ |
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1643653704349384704 |
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13.160551 |