Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator

Annisa, Binti Jamali and Intan Zaurah, Binti Mat Darus and Shahrol, Bin Mohamaddan and Mohammad Osman, Tokhi (2018) Implementation of PID based controller tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator. In: 2018 International Conference on Computational Approach in Smart Systems Design and Applications (ICASSDA), August 2018, Kuching, Malaysia.

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Abstract

The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of doublelink flexible robotic manipulator. The system was modeled using multi-layer perceptron neural network structure based on Nonlinear Autoregressive Exogenous (NARX) model. The hybrid controllers are incorporated with optimization algorithm that is ABC and PSO to find out the parameters of the PID controllers. Numerical simulation was carried out in MATLAB/Simulink to evaluate the system in term of tracking capability and vibration suppression for both links. Performance of the controllers are compared with the hybrid PID-PID Ziegler Nichols (ZN) controller in term of input tracking and vibration suppression. The results show that PSO revealed the superiority over ABC in controlling the system. The system managed to reach desired angle for both hub at lower overshoot using proposed method. Meanwhile, the vibration reduction shows great improvement for both link 1 and 2. This signifies that, the PSO algorithm is very effective in optimizing the PID parameters.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: —Flexible Manipulator, Neural Network, Particle Swarm Optimization, Artificial Bees Algoritmn, Vibration suppression, unimas, university, universiti, Borneo, Malaysia, Sarawak, Kuching, Samarahan, ipta, education, research, Universiti Malaysia Sarawak.
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Academic Faculties, Institutes and Centres > Faculty of Engineering
Depositing User: Gani
Date Deposited: 15 Feb 2019 03:34
Last Modified: 31 Jul 2019 03:42
URI: http://ir.unimas.my/id/eprint/23460

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