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 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.

Highlights

  • Despite various advantages shown by flexible manipulator such as offers cost reduction, lower power consumption, improved dexterity, better maneuverability, safer operation and light-weight, the undesirable vibration is the common shortcoming occurred in the structure

  • A hybrid proportional integral derivative (PID)-PID controller is developed for double link flexible robotic manipulator (DLFR) based on the Nonlinear Autoregressive Exogenous (NARX) model plant as elaborated in [11]

  • The hub angles were controlled by the collocated PID controller individually

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Summary

INTRODUCTION

Despite various advantages shown by flexible manipulator such as offers cost reduction, lower power consumption, improved dexterity, better maneuverability, safer operation and light-weight, the undesirable vibration is the common shortcoming occurred in the structure. The overall system performance has been improved by introducing ILC and adaptive control respectively which were proven in the simulation. Another tuning method that has been implemented in flexible manipulator is simultaneous equation solving method. The Linear matrix inequalities (LMI) based PID control of a nonlinear DLFR incorporating payload have been presented in [3] Another researcher proposed a class of stabilizing decentralized proportional integral derivative (PID) controller by incorporating bounding parameters of interconnection terms in LMI formulation for an n-link robot manipulator system [4]. A hybrid PID-PID controller is developed for double link flexible robotic manipulator (DLFR) based on the NARX model plant as elaborated in [11]. The global search of ABC and PSO are utilized to optimize all the PID controllers’ gains

SYSTEM CONTROLLER
Control Design
OPTIMIZATION METHOD
RESULTS AND DISCUSSION
Flexible motion control
CONCLUSION

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