Genetic modelling and simulation of flexible structures

Journal article

Mohd Hashim, SZ and Tokhi, MO (2004). Genetic modelling and simulation of flexible structures. Studies in Informatics and Control. 13 (4), pp. 253-264.
AuthorsMohd Hashim, SZ and Tokhi, MO
Abstract

This paper presents an investigation into the utilization of genetic algorithms (GAs) for dynamic modelling and simulation of flexible beam structures. The global search technique of GA is utilised to identify the parameters of a beam model based on one-step-ahead prediction in fixed-free mode; a simple representation of an aircraft wing or robot arm. A pseudo random binary sequence (PRBS) signal is used as the input excitation, covering the dynamic range of interest of the system. The developed model is validated using several validation tests. A comparative performance of the GA model and conventional recursive least squares (RLS) scheme in characterising the system is carried out in the time and frequency domains. Simulation results highlighting the advantages of GA over RLS in linear parametric modelling of flexible structures are given. The developed genetic-modelling approach will further be utilized in the design and implementation of suitable controllers, for vibration suppression in such systems.

KeywordsFlexible beam system; Genetic algorithms; Parametric modelling; System identification
Year2004
JournalStudies in Informatics and Control
Journal citation13 (4), pp. 253-264
PublisherInformatics and Control Publications
ISSN1220-1766
Publication dates
Print01 Feb 2004
Publication process dates
Accepted01 Jan 2004
Deposited29 Apr 2020
Accepted author manuscript
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Open
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Lei, J, Zhu, J, Xie, P and Tokhi, MO (2017). Joint variable stiffness of musculoskeletal leg mechanism for quadruped robot. Advances in Mechanical Engineering. 9 (4), pp. 1-11. https://doi.org/10.1177/1687814017690342
Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
Goher, KM, Almeshal, AM, Agouri, SA, Nasir, ANK, Tokhi, MO, Alenezi, MR, Al Zanki, T and Fadlallah, SO (2017). Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines. Robotics and Biomimetics. 4 (1). https://doi.org/10.1186/s40638-017-0059-1
Assessment strategy of human upper forearm inter-relation and muscle fatigue
Wan Daud, WMB and Tokhi, MO (2017). Assessment strategy of human upper forearm inter-relation and muscle fatigue. CLAWAR2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing.
Real-time embedded sliding mode observer for quadcopter UAVs
Firdaus, AR and Tokhi, MO (2017). Real-time embedded sliding mode observer for quadcopter UAVs. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing.
Upper-limb exoskeleton for human muscle fatigue
Ali, SK and Tokhi, MO (2017). Upper-limb exoskeleton for human muscle fatigue. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing.
A new bats echolocation-based algorithm for single objective optimisation
Yahya, NM, Tokhi, MO and Kasdirin, HA (2016). A new bats echolocation-based algorithm for single objective optimisation. Evolutionary Intelligence. 9 (1-2), pp. 1-20. https://doi.org/10.1007/s12065-016-0134-5
Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair.
Abdul Ghani, NM and Tokhi, MO (2016). Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair. Journal of Biomechanical Engineering. 138 (4). https://doi.org/10.1115/1.4032800
Fuzzy PID control of lower limb exoskeleton for elderly mobility
Rezage, GA and Tokhi, MO (2016). Fuzzy PID control of lower limb exoskeleton for elderly mobility. 2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR). Cluj-Napoca, Romania 19 - 21 May 2016 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/AQTR.2016.7501310
Fuzzy sliding control with non-linear observer for magnetic levitation systems
Benomair, AM, Firdaus, AR and Tokhi, MO (2016). Fuzzy sliding control with non-linear observer for magnetic levitation systems. MED 2016 - 24th Mediterranean Conference on Control and Automation. Athens, Greece 21 - 24 Jun 2016 Institute of Electrical and Electronics Engineers (IEEE). pp. 256-261 https://doi.org/10.1109/MED.2016.7536025
Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton
Rezage, GA, Kasdirin, HA, Ali, SK and Tokhi, MO (2016). Invasive weed optimization algorithm optimized fuzzy logic scaling parameters in controlling a lower limb exoskeleton. 21st International Conference on methods and Models in Automation and Robotics (MMAR). Miedzyzdroje, Poland 29 Aug - 01 Sep 2016 Institute of Electrical and Electronics Engineers (IEEE). pp. 1116-1121 https://doi.org/10.1109/MMAR.2016.7575294
Tracking human upper-limb movements with sliding mode control type-II fuzzy logic
Ali, SK, Firdaus, AR, Tokhi, MO and Alrezage, G (2016). Tracking human upper-limb movements with sliding mode control type-II fuzzy logic. Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics (MMAR). Miedzyzdroje, Poland 29 Aug - 01 Sep 2016 Institute of Electrical and Electronics Engineers (IEEE). pp. 426-431 https://doi.org/10.1109/MMAR.2016.7575173
Advances in Cooperative Robotics
Tokhi, MO and Virk, GS (2016). Advances in Cooperative Robotics. 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Queen Mary University, London 12 - 14 Sep 2016 World Scientific Publishing. pp. v
Chaotic spiral dynamics optimization algorithm
Hashim, MR and Tokhi, MO (2016). Chaotic spiral dynamics optimization algorithm. The 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines. Queen Mary University, London 12 - 14 Sep 2016 World Scientific Publishing. pp. 551-558
PD-fuzzy control of lower limb exoskeleton for elderly mobility
Alrezage, G, Alshatti, A and Tokhi, MO (2016). PD-fuzzy control of lower limb exoskeleton for elderly mobility. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing. pp. 823-831
Simulation and control of multipurpose wheelchair for disabled/elderly mobility
Abdul Ghani, NM and Tokhi, MO (2016). Simulation and control of multipurpose wheelchair for disabled/elderly mobility. Integrated Computer-Aided Engineering. 23 (4), pp. 331-347. https://doi.org/10.3233/ICA-160526
Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation
Nasir, ANK and Tokhi, MO (2015). Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation. Applied Soft Computing . 27, pp. 357-375. https://doi.org/10.1016/j.asoc.2014.11.030
A novel hybrid bacteria-chemotaxis spiral-dynamic algorithm with application to modelling of flexible systems
Nasir, ANK and Tokhi, MO (2014). A novel hybrid bacteria-chemotaxis spiral-dynamic algorithm with application to modelling of flexible systems. Engineering Applications of Artificial Intelligence. 33, pp. 31-46. https://doi.org/10.1016/j.engappai.2014.04.001
Modelling and control of a water-based system of multiple mobile robots for unmanned rescue
Sarker, MMH and Tokhi, MO (2012). Modelling and control of a water-based system of multiple mobile robots for unmanned rescue. The West Indian Journal of Engineering. 34 (1/2), pp. 30-38.
Control of a stair climbing wheelchair
Abdul Ghani, NM, Tokhi, MO, Nasir, ANK and Ahmad, S (2012). Control of a stair climbing wheelchair. IAES International Journal of Robotics and Automation (IJRA). 1 (4). https://doi.org/10.11591/ijra.v1i4.795
Optimized fuzzy control for natural trajectory based FES-swinging motion
Ibrahim, BSKK, Tokhi, MO, Huq, MS and Gharooni, SC (2011). Optimized fuzzy control for natural trajectory based FES-swinging motion. International Journal of Integrated Engineering. 3 (2), pp. 17-23.
Improving particle swarm optimization convergence with spread and momentum factors
Abd Latiff, I and Tokhi, MO (2011). Improving particle swarm optimization convergence with spread and momentum factors. International Journal of Computer Sciences and Engineering Systems. 5 (3), pp. 209-217.
ANFIS and neural network techniques for non-parametric modelling of a twin rotor system
Toha, SF and Tokhi, MO (2010). ANFIS and neural network techniques for non-parametric modelling of a twin rotor system. Systems Science. 36 (4), pp. 13-31.
A novel approach in development of dynamic muscle model for paraplegic with functional electrical stimulation
Jailani, R, Tokhi, MO, Gharooni, S and Hussain, Z (2009). A novel approach in development of dynamic muscle model for paraplegic with functional electrical stimulation. Journal of Engineering and Applied Sciences. 4 (4), pp. 272-276.
Multi-objective genetic algorithm optimisation approach for the geometrical design of an active noise control system
Jafferi, N and Tokhi, MO (2009). Multi-objective genetic algorithm optimisation approach for the geometrical design of an active noise control system. International Journal of Integrated Engineering. 1 (1), pp. 73-86.
Identification of active properties of knee joint using GA optimization
Ibrahim, BSKK, Huq, MS, Tokhi, MO, Gharooni, SC, Jailani, R and Hussain, Z (2009). Identification of active properties of knee joint using GA optimization. World Academy of Science, Engineering and Technology. 55, pp. 441-446.
Particle swarm optimisation algorithms and their application to controller design for flexible structure systems
Tokhi, MO and Alam, MS (2009). Particle swarm optimisation algorithms and their application to controller design for flexible structure systems. IST Transactions of Control Engineering-Theory and Applications. 1 (3(9)), pp. 12-25.
System identification of a twin rotor multi-input multi-output system using adaptive filters with pseudo random binary input
Alam, MS and Tokhi, MO (2008). System identification of a twin rotor multi-input multi-output system using adaptive filters with pseudo random binary input. The Dhaka University Journal of Science. 57 (2), pp. 131-136.
Dynamic modelling of a twin rotor system: a genetic algorithm optimisation approach
Alam, MS and Tokhi, MO (2008). Dynamic modelling of a twin rotor system: a genetic algorithm optimisation approach. The Dhaka University Journal of Science. 56 (2), pp. 183-187.
Augmented feedforward and feedback control scheme for input tracking and vibration control
Alam, MS, Aldebrez, FM and Tokhi, MO (2008). Augmented feedforward and feedback control scheme for input tracking and vibration control. The Dhaka University Journal of Science. 57 (1), pp. 67-70.
Genetic algorithm-based modeling and optimization of control parameters of an air motor
Marumo, RR and Tokhi, MO (2008). Genetic algorithm-based modeling and optimization of control parameters of an air motor. Journal of Intelligent Systems. 17 (Supplement), pp. 87-108. https://doi.org/10.1515/JISYS.2008.17.S1.87
Genetic algorithm optimization and control system design of flexible structures
Tokhi, MO, Md Zain, MZ, Alam, MS, Aldebrez, FM, Mohd Hashim, SZ and Mat Darus, IZ (2008). Genetic algorithm optimization and control system design of flexible structures. Journal of Intelligent Systems. 17 (Supplement), pp. 133-168. https://doi.org/10.1515/JISYS.2008.17.S1.133
Mobile robotics moves forward on standardisation
Tokhi, MO (2007). Mobile robotics moves forward on standardisation. Industrial Robot: An International Journal. 34 (2). https://doi.org/10.1108/ir.2007.04934baa.002
Modelling and simulation of an air motor system using extended radial basis algorithm
Marumo, R and Tokhi, MO (2007). Modelling and simulation of an air motor system using extended radial basis algorithm. Botswana Journal of Technology. 16 (1), pp. 16-25.
GA-based neural fuzzy control of flexible-link manipulators
Siddique, MNH and Tokhi, MO (2006). GA-based neural fuzzy control of flexible-link manipulators. Engineering Letters. 13 (2), pp. 148-157.
Performance Of Hybrid Learning Control With Input Shaping For Input Tracking And Vibration Suppression Of A Flexible Manipulator
Md. Zain, MZ, Tokhi, MO and Mohamed, Z (2006). Performance Of Hybrid Learning Control With Input Shaping For Input Tracking And Vibration Suppression Of A Flexible Manipulator. Jurnal Teknologi. 44 (1). https://doi.org/10.11113/jt.v44.353
Modelling, simulation and proportional integral control of a pneumatic motor
Marumo, R and Tokhi, MO (2006). Modelling, simulation and proportional integral control of a pneumatic motor. Engineering Letters. 13 (2), pp. 185-194.
Real-time design constraints in implementing active vibration control algorithms
Hossain, MA and Tokhi, MO (2006). Real-time design constraints in implementing active vibration control algorithms. International Journal of Automation and Computing. 3 (3), pp. 252-262. https://doi.org/10.1007/s11633-006-0252-0
Intelligent methods for active noise and vibration control
Tokhi, M O (2004). Intelligent methods for active noise and vibration control. Archives of Acoustics. 29 (2), pp. 259-273.
Improving performance in single-link flexible manipulator using hybrid learning control
Md Zain, MZ, Tokhi, MO, Mailah, M and Mohamed, Z (2004). Improving performance in single-link flexible manipulator using hybrid learning control. Jurnal Mekanikal. 18, pp. 13-28.
Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system
Ahmad, SM, Chipperfield, AJ and Tokhi, MO (2004). Dynamic modelling and open-loop control of a two-degree-of-freedom twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 218 (6), pp. 451-463. https://doi.org/10.1243/0959651052010089
Adaptive active control of noise and vibration
Tokhi, MO (2003). Adaptive active control of noise and vibration. Archives of Control Sciences. 13 (2), pp. 117-139.
Genetic algorithms based adaptive active vibration control of a flexible plate structure
Mat Darus, IZ and Tokhi, MO (2003). Genetic algorithms based adaptive active vibration control of a flexible plate structure. Systems Science. 29 (3), pp. 65-79.
Vibration control of pitch movement using command shaping techniques– Experimental investigation
Aldebrez, FM and Tokhi, MO (2003). Vibration control of pitch movement using command shaping techniques– Experimental investigation. Systems Science. 29 (2), pp. 129-143. https://doi.org/10.1109/ETFA.2003.1247741
Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system
Ahmad, SM, Chipperfield, AJ and Tokhi, MO (2003). Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 217 (3), pp. 203-227. https://doi.org/10.1243/095965103765832885
Active noise and vibration control–Part I
Tokhi, M O and Figwer, J (2003). Active noise and vibration control–Part I. Archives of Control Sciences. 13 (2).
Active noise and vibration control–Part II
Figwer, J and Tokhi, MO (2003). Active noise and vibration control–Part II. Archives of Control Sciences. 13 (3).
Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system
Ahmad, SM, Chipperfield, AJ and Tokhi, MO (2003). Dynamic modelling and linear quadratic Gaussian control of a twin-rotor multi-input multi-output system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 217 (3), pp. 203-227. https://doi.org/10.1243/095965103765832885
Dynamic modelling of a single-link flexible manipulator: Parametric and non-parametric approaches
Shaheed, MH and Tokhi, MO (2002). Dynamic modelling of a single-link flexible manipulator: Parametric and non-parametric approaches. Robotica. 20 (1), pp. 93-109. https://doi.org/10.1017/s0263574701003678