Intelligent Tuning of PID Controller for Double-Link Flexible Robotic Arm Manipulator by Artificial Bee Colony Algorithm

Jamali, Annisa and Mat Darus, I.Z. and Yatim, H.M and A. Talib, M. H. and Hadi, M.S and Tokhi, M.O. (2020) Intelligent Tuning of PID Controller for Double-Link Flexible Robotic Arm Manipulator by Artificial Bee Colony Algorithm. In: Sensor Networks and Signal Processing. Smart Innovation, Systems and Technologies, 176 . Springer, Singapore, Springer Nature Singapore Pte Ltd. 2021, pp. 533-547. ISBN 978-981-15-4917-5

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Abstract

Robotics system particularly robotic arm has received tremendous demand in various fields especially manufacturing industries. Robotic arm is highly needed to enhance production, to improve output, and reduce human error. The current robotics arm not only they are expensive and required specialist for maintenance, but they are also bulky and very heavy. Thus, the option is employing lightweight, stronger, and more flexible robotics arm. However, the lightweight robotic arm can be easily influenced by unwanted vibration which may lead to problems including fatigue, instability, and performance reduction. These problems may eventually cause damage to the highly stressed structure. This research focuses on the development of intelligent controller utilizing artificial bee colony (ABC) algorithm to tune proportional integral derivative (PID) parameters for controlling two-link flexible manipulator (TLFRM). The essential objective of the designing the controller is to improve the performance of desired position and vibration suppression of TLFRM. The MATLAB environment is utilized to verify the accomplishment of the recommended control system. An assessment is conducted to illustrate the efficiency of PID-ABC controller in terms of input tracking and vibration suppression. The results show that the system with embedded new proposed controller is capable to achieve preferred angle at decrease overshoot and the settling time is exceptionally much quicker. The vibration reduction demonstrated substantial improvement as compared to manual tuning method. Overall, the proposed controller for two-link flexible manipulator that is intelligent PID-ABC was successfully control the system to the preferred position with vibration suppression in the entire system.

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