Fadhli Muiz, Talib and Muhamad Sukri, Hadi and Hanim, Mohd Yatim and Annisa, Jamali and Mat Hussin, Ab Talib and Intan Zaurah, Mat Darus (2020) Modelling of Flexible Manipulator System Using Flower Pollination Algorithm. In: 2nd International Conference on Applied Engineering (ICAE 2019), 2-3 Oct 2019, Polibatam, Batam Indonesia.
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Abstract
The study of the flexible manipulator system (FMS) has attracted many researchers due to its superiority of light weight and faster system response. Flexible manipulator system is an improvement from its rigid structure, however it can be easily vibrated when it subjected to disturbance. If the advantages of FMS are not to be sacrificed, an accurate model and efficient control system must be developed. Thus, this study presents an approach of evolutionary swarm algorithm via flower pollination algorithm (FPA) to model the dynamic system of flexible manipulator structure. An experimental rig of flexible manipulator system was developed for input-output acquisition. Then, this input-output data was fed to system identification method to obtain a dynamic model of flexible manipulator system utilizing evolutionary algorithm with linear auto regressive with exogenous (ARX) model structure. The result obtained through flower pollination algorithm was then compared with conventional method known as least square (LS) algorithm in terms of mean square error (MSE), correlation test and pole-zero diagram. The best MSE achieved by LS modeling for endpoint acceleration and hub angle positioning are 0.0075 and 0.0028, respectively. While, the best MSE produced by flower pollination algorithm for endpoint acceleration and hub angle positioning are 0.0063 and 0.0020, respectively. It is reveals that the performance of intelligence algorithm is superior than conventional algorithm.
| Item Type: | Proceeding (Paper) |
|---|---|
| Uncontrolled Keywords: | Flower pollination algorithm, evolutionary swarm algorithm, flexible manipulator, unimas, university, universiti, Borneo, Malaysia, Sarawak, Kuching, Samarahan, ipta, education, research, Universiti Malaysia Sarawak system identification |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Academic Faculties, Institutes and Centres > Faculty of Engineering Faculties, Institutes, Centres > Faculty of Engineering |
| Depositing User: | Jamali |
| Date Deposited: | 27 Nov 2020 13:10 |
| Last Modified: | 27 Nov 2020 13:10 |
| URI: | http://ir.unimas.my/id/eprint/33088 |
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