TY - GEN
T1 - Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator
AU - Annisa, J.
AU - Mat Darus, I. Z.
AU - Tokhi, M. O.
AU - Mohamaddan, S.
N1 - Funding Information:
The authors would like to express their gratitude to Minister of Education Malaysia (MOE), Universiti Teknologi Malaysia (UTM) and Universiti Malaysia Sarawak (UNIMAS) for funding and providing facilities to conduct this research.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/28
Y1 - 2018/9/28
N2 - The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of double-link 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.
AB - The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of double-link 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.
KW - Artificial Bees Algoritmn
KW - Flexible Manipulator
KW - Neural Network
KW - Particle Swarm Optimization
KW - Vibration suppression
UR - http://www.scopus.com/inward/record.url?scp=85055885860&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85055885860&partnerID=8YFLogxK
U2 - 10.1109/ICASSDA.2018.8477615
DO - 10.1109/ICASSDA.2018.8477615
M3 - Conference contribution
AN - SCOPUS:85055885860
T3 - 2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018
BT - 2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 International Conference on Computational Approach in Smart Systems Design and Applications, ICASSDA 2018
Y2 - 15 August 2018 through 17 August 2018
ER -