Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator

Annisa, J.; Darus, Intan Zaurah Mat; Tokhi, M. O.; Mohamaddan, Shahrol

doi:10.1109/icassda.2018.8477615

Cited by 18 publications

(14 citation statements)

References 5 publications

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“…The initial value of Kp =7.2, KI = 21.176 and KD= 1.812 and Kp= 4.16, KI = 55.082 and KD= 3.052 for links 1 and 2 respectively. These values were obtained from Ziegler-Nichols strategy [15]. The value ended up consistent once the least yield error come to the set stopping criterion error that is 0.0015 m/s 2 .…”

Section: Flexible Motionmentioning

confidence: 94%

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Controlling the Non-parametric Modeling of Double Link Flexible Robotic Manipulator using Hybrid PID Tuned by PType ILA.

Annisa

Abidin

Darus

et al. 2018

IJIE

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The wide advancement in different field of life such as domestics and industries make an incredible demand for flexible robot controller. Numerous robot controller applications are categorized as multiple-input-multiple-output (MIMO) frameworks owing to multi-link structure. The design and tuning of multi-loop controllers to meet certain conditions are regularly the pullback factors since there are interaction between the controllers. The framework must be decoupled to diminish the interaction or to form the framework diagonally dominant. Additionally, the existence of vibration on flexible structure of robot controller must be treated at the same time. The ceaseless stress delivered by the vibration can lead to structural deterioration, fatigue, instability and performance degradation. In this way, the decrease of vibration on flexible structure of robot controller is of foremost significance. In spite of the fact that numerous analysts Abstract: Utilization of robotic manipulator with multi-link structure encompasses a great influence in most of the present industries. However, controlling the motion of multi-link manipulator has become a troublesome errand particularly once the flexible structure is employed. As of now, the framework utilizes the complicated arithmetic to resolve desired hub angle with the coupling result and vibration within the framework. Hence, this research aims to develop a dynamic system and controller for double-link flexible robotics manipulator (DLFRM) with the enhancement on hub angle position and vibration concealment. The research utilised neural network because the model estimation supported NARX model structure. In the controllers' development, this research focuses on selftuning controller. P-Type iterative learning algorithm (ILA) control theme was enforced to adapt the controller parameters to fulfill the required performances once there is changes to the system. The hybrid of proportionalintegral-derivate (PID) controller was developed for hub motion and end-point vibration suppression of every link respectively. The controllers were tested in MATLAB/Simulink simulation setting. The performance of the controller was compared with the fixed hybrid PID-PID controller in term of input tracking and vibration concealment. The results indicated that the proposed controller was effective to maneuver the double-link flexible robotic manipulator to the specified position with reduction of the vibration at the tip of the DLFRM structure.

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Section: Flexible Motionmentioning

confidence: 94%

“…12 and 13 with initial values of Kp =2.083, KI = 0.539 and KD= 2.010 and Kp =4.148, KI = 1.296 and KD= 3.318 for links 1 and 2 respectively. These values were found through Ziegler-Nichols method conducted in previous research [15]. The stopping criterion value was attained through trial method.…”

Section: 21mentioning

confidence: 99%

Controlling the Non-parametric Modeling of Double Link Flexible Robotic Manipulator using Hybrid PID Tuned by PType ILA.

Annisa

Abidin

Darus

et al. 2018

IJIE

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“…However, the vibrations of the two-FLM are not eliminated in a short time. 24 A PID controller has been optimized by multi-objective differential evolution and the optimized PID controller has been compared with a linear quadratic regulator (LQR) controller. 25 The LQR controller has showed better transient response, and the optimized-PID controller is effective in vibration reduction as has been verified by the simulation and the experimental work obtained.…”

Section: Classical Controllersmentioning

confidence: 99%

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Alandoli

Lee

2020

Robotica

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SUMMARY There is a high demand for developing effective controllers to perform fast and accurate operations for either flexible link manipulators (FLMs) or rigid link manipulators (RLMs). Thus, this paper is beneficial for such vast field, and it is also advantageous and indispensable for researchers who are interested in robotics to have sufficient knowledge about various controllers of FLMs and RLMs as the controllers’ concepts are elaborated in detail. The paper concentrates in critically reviewing classical controllers, intelligent controllers, robust controllers, and hybrid controllers for both FLMs and RLMs. The advantages and disadvantages of the aforementioned control methods are summarized in this paper; it also has a detailed comparison for the controllers in terms of the design difficulty, performance, and the suitability for controlling FLMs or RLMs.

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“…This applied for both algorithms. The modelling of the system and the control scheme are detailed out in previous paper [11][12] The simulation study was conducted offline to investigate the performance of PSO and ABC algorithm to tune the PID controllers' parameters. The corresponding controller parameters which are KP, KI and KD were fed to the closed-loop PID controller in MATLAB/Simulink.…”

Section: Tuning Of Pid Controller Using Pso and Abcmentioning

confidence: 99%

Optimization of PID controller for double-link flexible robotic manipulator using metaheuristic algorithms

Annisa¹,

Zaurah²,

Hanim³

et al. 2019

Synergy of Automation, IoT &Amp; AI

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This paper investigates the optimization approach of PID controller for double-link flexible robotic manipulator using metaheuristic algorithm. This research focus on population-based metaheuristic that is particle swarm optimization (PSO) and artificial bees algorithm (ABC) to tune the PID control parameters of the system. In the tuning process, the number of iteration was set and the number of particles was varied. The tuning process was interrupted once the convergence value of Mean Square Error (MSE) was achieved. For PSO, it was found that when the number of iteration increased, or the number of particles were set to higher values, there were no significant improvement of MSE. Results showed that 25 iterations were required for MSE to converge for hub angle and 20 iterations were required for MSE to converge for endpoint acceleration. Meanwhile, it was discovered that ABC portrayed the same pattern with PSO whereby when the number of iteration increased or the number of colony sizes were set to higher values, there were no significant improvement of MSE. From the results, 15 iterations were required for MSE to converge for hub angle and 25 iterations were required for MSE to converge for end-point acceleration. The performance of the algorithm was validated by evaluating the performance of the controllers in comparison with the conventional controller that is Ziegler Nichols (ZN) in term of input tracking capability and vibration suppression for both links. The system managed to reach desired angle for both hub angle 1 and 2. Besides, vibration reduction shows great improvement for both link 1 and 2. This signifies that, the PSO and ABC algorithm are very effective in optimizing the PID parameters.

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Implementation of PID Based Controller Tuned by Evolutionary Algorithm for Double Link Flexible Robotic Manipulator

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Cited by 18 publications

References 5 publications

Controlling the Non-parametric Modeling of Double Link Flexible Robotic Manipulator using Hybrid PID Tuned by PType ILA.

Controlling the Non-parametric Modeling of Double Link Flexible Robotic Manipulator using Hybrid PID Tuned by PType ILA.

A Critical Review of Control Techniques for Flexible and Rigid Link Manipulators

Optimization of PID controller for double-link flexible robotic manipulator using metaheuristic algorithms

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