Active Vibration Control of Flexible Manipulator using Genetic Algorithm with Parameter Exchanger

Abstract

Active vibration control (AVC) is widely utilised for vibration reduction especially in flexible structures in order to minimise structural damage and increase efficiency of the system. Hence, in this paper unwanted vibration of flexible manipulator was tackled using AVC strategy utilizing PID controller adjusted by intelligent optimization approaches. New intelligent optimizer called as Genetic Algorithm with Parameter Exchanger (GAPE) was introduced. Firstly, experimental rig was developed to acquire the input-output data of the system. The collected vibration data were utilized to develop the system model and validated. Then, the developed model was used as a platform for the implementation of PID controller using an active vibration control technique. PID parameters were then optimized using novel GAPE and its performance was compared with standard GA. Results shown that PID-GAPE has performed better in vibration attenuation of flexible manipulator with 27.13 dB at first mode of vibration as compared to PID-GA.