PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
This paper presents an investigation into dynamic simulation and controller optimization based on genetic algorithms (GAs) for a single-link flexible manipulator system in vertical plane motion. The dynamic model of the system is derived using the Lagrange equation and discretised using th...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/7124/ http://irep.iium.edu.my/7124/ http://irep.iium.edu.my/7124/ http://irep.iium.edu.my/7124/1/05358758.pdf |
| Summary: | This paper presents an investigation into dynamic
simulation and controller optimization based on genetic algorithms
(GAs) for a single-link flexible manipulator system in vertical plane
motion. The dynamic model of the system is derived using the
Lagrange equation and discretised using the finite difference (FD)
method. GA optimization is used to optimize the parameters of the
proportional-integral-derivative (PID) based controllers for control
of rigid-body and flexible motion dynamics of the system. The
important point is to evaluate the range of PID parameter which
used in the GAs programmed to find the best value of this
parameter. Comparative performance assessment of the control
approaches are presented and discussed in the time and the
frequency domains. |
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