PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator
This paper proposed the chaotic safe experimentation dynamics algorithm (CSEDA) to regulate angular tracking and vibration of the self-tuning PID controller for elastic joint manipulators. CSEDA was a modified version of the safe experimentation dynamics algorithm (SEDA) that used a chaos function i...
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| Format: | Article |
| Language: | English |
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International Information and Engineering Technology Association
2021
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| Online Access: | http://umpir.ump.edu.my/id/eprint/32599/ http://umpir.ump.edu.my/id/eprint/32599/1/54.05_04.pdf |
| _version_ | 1848824061375807488 |
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| author | Mohd Ikhmil Fadzrizan, Mohd Hanif Ahmad, Mohd Ashraf Jui, Julakha Jahan |
| author_facet | Mohd Ikhmil Fadzrizan, Mohd Hanif Ahmad, Mohd Ashraf Jui, Julakha Jahan |
| author_sort | Mohd Ikhmil Fadzrizan, Mohd Hanif |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper proposed the chaotic safe experimentation dynamics algorithm (CSEDA) to regulate angular tracking and vibration of the self-tuning PID controller for elastic joint manipulators. CSEDA was a modified version of the safe experimentation dynamics algorithm (SEDA) that used a chaos function in the updated equation. The chaos function increased the exploration capability, thus improving the convergence accuracy. In this study, two self-tuning PID controllers were used to regulate the rotating angle tracking and vibration for elastic joint manipulators in this control challenge. The suggested self-tuning PID controller's performance was evaluated in angular motion trajectory tracking, vibration suppression, and the pre-determined control fitness function. A self-tuned PID controller based on CSEDA could achieve superior control accuracy than a traditional SEDA and its variants. |
| first_indexed | 2025-11-15T03:07:02Z |
| format | Article |
| id | ump-32599 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T03:07:02Z |
| publishDate | 2021 |
| publisher | International Information and Engineering Technology Association |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-325992021-11-18T07:33:55Z http://umpir.ump.edu.my/id/eprint/32599/ PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator Mohd Ikhmil Fadzrizan, Mohd Hanif Ahmad, Mohd Ashraf Jui, Julakha Jahan TK Electrical engineering. Electronics Nuclear engineering This paper proposed the chaotic safe experimentation dynamics algorithm (CSEDA) to regulate angular tracking and vibration of the self-tuning PID controller for elastic joint manipulators. CSEDA was a modified version of the safe experimentation dynamics algorithm (SEDA) that used a chaos function in the updated equation. The chaos function increased the exploration capability, thus improving the convergence accuracy. In this study, two self-tuning PID controllers were used to regulate the rotating angle tracking and vibration for elastic joint manipulators in this control challenge. The suggested self-tuning PID controller's performance was evaluated in angular motion trajectory tracking, vibration suppression, and the pre-determined control fitness function. A self-tuned PID controller based on CSEDA could achieve superior control accuracy than a traditional SEDA and its variants. International Information and Engineering Technology Association 2021-10-31 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/32599/1/54.05_04.pdf Mohd Ikhmil Fadzrizan, Mohd Hanif and Ahmad, Mohd Ashraf and Jui, Julakha Jahan (2021) PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator. Journal Europeen des Systemes Automatises, 54 (5). pp. 693-698. ISSN 1269-6935. (Published) https://www.iieta.org/journals/jesa/paper/10.18280/jesa.540504 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd Ikhmil Fadzrizan, Mohd Hanif Ahmad, Mohd Ashraf Jui, Julakha Jahan PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator |
| title | PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator |
| title_full | PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator |
| title_fullStr | PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator |
| title_full_unstemmed | PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator |
| title_short | PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator |
| title_sort | pid tuning method using chaotic safe experimentation dynamics algorithm for elastic joint manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/32599/ http://umpir.ump.edu.my/id/eprint/32599/ http://umpir.ump.edu.my/id/eprint/32599/1/54.05_04.pdf |