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: | Proceeding Paper |
| Language: | English |
| Published: |
2009
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/7124/ http://irep.iium.edu.my/7124/1/05358758.pdf |
| _version_ | 1848776791806705664 |
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| 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 |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T14:35:43Z |
| format | Proceeding Paper |
| id | iium-7124 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T14:35:43Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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 Proceeding Paper 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 |
| 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 |
| title | 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_short | 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 |
| topic | TA Engineering (General). Civil engineering (General) |
| 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 |