Hub angle control for a single link flexible manipulator based on cuckoo search algorithm
F1exible 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 sy...
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my.utm.961212022-07-04T03:21:43Z http://eprints.utm.my/id/eprint/96121/ Hub angle control for a single link flexible manipulator based on cuckoo search algorithm Sukri, Aiman Azrael Shaiful Nahar Nazri, Siti Sarah Zahidah Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Mat Darus, Intan Zaurah TJ Mechanical engineering and machinery F1exible 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. 2021-08-23 Conference or Workshop Item PeerReviewed Sukri, Aiman Azrael Shaiful Nahar and Nazri, Siti Sarah Zahidah and Hadi, Muhamad Sukri and Jamali, Annisa and Mohd. Yatim, Hanim and Mat Darus, Intan Zaurah (2021) Hub angle control for a single link flexible manipulator based on cuckoo search algorithm. In: 7th IEEE International Conference on Smart Instrumentation, Measurement and Applications, ICSIMA 2021, 23 August 2021 - 25 August 2021, Virtual, Bandung. http://dx.doi.org/10.1109/ICSIMA50015.2021.9526319 |
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TJ Mechanical engineering and machinery Sukri, Aiman Azrael Shaiful Nahar Nazri, Siti Sarah Zahidah Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Mat Darus, Intan Zaurah Hub angle control for a single link flexible manipulator based on cuckoo search algorithm |
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F1exible 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. |
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Conference or Workshop Item |
author |
Sukri, Aiman Azrael Shaiful Nahar Nazri, Siti Sarah Zahidah Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Mat Darus, Intan Zaurah |
author_facet |
Sukri, Aiman Azrael Shaiful Nahar Nazri, Siti Sarah Zahidah Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Mat Darus, Intan Zaurah |
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Sukri, Aiman Azrael Shaiful Nahar |
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 |
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2021 |
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http://eprints.utm.my/id/eprint/96121/ http://dx.doi.org/10.1109/ICSIMA50015.2021.9526319 |
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