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...

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Main Authors:	Md Zain, Badrul Aisham, Tokhi, M. Osman, Toha, Siti Fauziah
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TA Engineering (General). Civil engineering (General)
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

id	iium-7124
recordtype	eprints
spelling	iium-71242012-10-09T01:01:18Z http://irep.iium.edu.my/7124/ PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation Md Zain, Badrul Aisham Tokhi, M. Osman Toha, Siti Fauziah TA Engineering (General). Civil engineering (General) 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. 2009 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/7124/1/05358758.pdf Md Zain, Badrul Aisham and Tokhi, M. Osman and Toha, Siti Fauziah (2009) PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation. In: Third UKSim European Symposium on Computer Modeling and Simulation 2009, 25-27 November 2009, Athens, Greece. http://dx.doi.org/10.1109/EMS.2009.86 doi:10.1109/EMS.2009.86
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA Engineering (General). Civil engineering (General)
spellingShingle	TA Engineering (General). Civil engineering (General) Md Zain, Badrul Aisham Tokhi, M. Osman Toha, Siti Fauziah PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
description	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.
format	Conference or Workshop Item
author	Md Zain, Badrul Aisham Tokhi, M. Osman Toha, Siti Fauziah
author_facet	Md Zain, Badrul Aisham Tokhi, M. Osman Toha, Siti Fauziah
author_sort	Md Zain, Badrul Aisham
title	PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
title_short	PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
title_full	PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
title_fullStr	PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
title_full_unstemmed	PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
title_sort	pid-based control of a single-link flexible manipulator in vertical motion with genetic optimisation
publishDate	2009
url	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
first_indexed	2018-09-07T03:25:48Z
last_indexed	2018-09-07T03:25:48Z
_version_	1610917608082636800

PID-based control of a single-link flexible manipulator in vertical motion with genetic optimisation

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