Intelligent PID Controller of Flexible Link Manipulator with Payload

Annisa, Jamali and Mat Darus, I. Z. and Tokhi, M. O (2020) Intelligent PID Controller of Flexible Link Manipulator with Payload. In: 2020 3rd International Conference on Mechanical, Electronics, Computer, and Industrial Technology (MECnIT), 25 - 27 June 2020, Medan, Indonesia.

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This paper presents the experimental study of intelligent PID controller with the present of payload. The controllers were constructed to optimally track the desired hub angle and vibration suppression of DLFRM. The hub angle and end-point vibration models were identified based on NNARX structure. The results of all developed controllers were analyzed in terms of trajectory tracking and vibration suppression of DLFRM subjected to disturbance. The simulation studies showed that the intelligent PID controllers have provided good performance. Further investigation via experimental studies was carried out. The results revealed that the intelligent PID control structure able to show similar performance up to 20 g of payload hold by the system. Once the payload increased more than 20 g, the performance of the controller degrades. Thus, it can be concluded that, the controllers can be applied in real application, provided the tuning process were carried out with the existence of the maximum payload which will be subjected in the system. The 20 g payload value can act as uncertainty for the controller performance.

Item Type: Proceeding (Paper)
Uncontrolled Keywords: flexible manipulator, payload, robotic manipulator, intelligent controller, PSO, 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
Faculties, Institutes, Centres > Faculty of Engineering
Depositing User: Jamali
Date Deposited: 04 Sep 2020 01:39
Last Modified: 04 Sep 2020 01:41

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