Evolutionary algorithm based controller for double link flexible robotic manipulator

Conference paper


Annisa, J, Mat Darus, IZ and Tokhi, MO (2017). Evolutionary algorithm based controller for double link flexible robotic manipulator. Mechanical Engineering Research Day. Melaka, Malaysia 30 - 30 Mar 2017
AuthorsAnnisa, J, Mat Darus, IZ and Tokhi, MO
TypeConference paper
Abstract

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 modelled 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. The results show that PSO revealed the superiority over ABC in controlling the system.

Year2017
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Print30 Mar 2017
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Accepted10 Jan 2017
Deposited25 Apr 2020
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https://openresearch.lsbu.ac.uk/item/899qv

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Annisa et al_MERD_2017.pdf
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