Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator
This paper exclusively endorses the optimization of self-tuned PID using Safe Experimentation Spiral Dynamic Algorithm (SESDA) for elastic joint handling. SESDA is hereby devised by adoption of spiral function to a standard Safe Experimentation Dynamics Algorithm (SEDA). Such modification is impleme...
| Main Authors: | , , , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
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Institute of Electrical and Electronics Engineers Inc.
2022
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| Online Access: | http://umpir.ump.edu.my/id/eprint/39088/ http://umpir.ump.edu.my/id/eprint/39088/1/Implementation%20of%20safe%20experimentation%20spiral%20dynamics%20algorithm.pdf http://umpir.ump.edu.my/id/eprint/39088/2/Implementation%20of%20safe%20experimentation%20spiral%20dynamics%20algorithm%20for%20self-tuning%20of%20PID%20controller%20in%20elastic%20joint%20manipulator_ABS.pdf |
| _version_ | 1848825680120250368 |
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| author | Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali Mohd Helmi, Suid |
| author_facet | Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali Mohd Helmi, Suid |
| author_sort | Mohd Ashraf, Ahmad |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | This paper exclusively endorses the optimization of self-tuned PID using Safe Experimentation Spiral Dynamic Algorithm (SESDA) for elastic joint handling. SESDA is hereby devised by adoption of spiral function to a standard Safe Experimentation Dynamics Algorithm (SEDA). Such modification is implemented to exploit the ability of spiral function in enhancing both the algorithm's exploration competency and convergence accuracy. Rotating angle tracking and vibration were then commanded by employing a pair of self-tuned PID controllers to the elastic joint system in appraising the optimization efficacy of SESDA. Performance of the updated self-tuned PID controller was further assessed in accordance to the recorded outputs on angular motion trajectory tracking, vibration suppression and statistical evaluations centering its pre-established control fitness function. The proposed SESDA produced 6.51 %, 5.54 % and 8.51 % improvement of fitness function, tracking error and control input energy, respectively, as compared with the standard SEDA. Acquired results ultimately confirmed the excellence of SESDA towards self-tuned PID's superior regulatory precision against the standard SEDA as well as its variants. |
| first_indexed | 2025-11-15T03:32:46Z |
| format | Conference or Workshop Item |
| id | ump-39088 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English English |
| last_indexed | 2025-11-15T03:32:46Z |
| publishDate | 2022 |
| publisher | Institute of Electrical and Electronics Engineers Inc. |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-390882023-11-14T03:53:41Z http://umpir.ump.edu.my/id/eprint/39088/ Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali Mohd Helmi, Suid T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering This paper exclusively endorses the optimization of self-tuned PID using Safe Experimentation Spiral Dynamic Algorithm (SESDA) for elastic joint handling. SESDA is hereby devised by adoption of spiral function to a standard Safe Experimentation Dynamics Algorithm (SEDA). Such modification is implemented to exploit the ability of spiral function in enhancing both the algorithm's exploration competency and convergence accuracy. Rotating angle tracking and vibration were then commanded by employing a pair of self-tuned PID controllers to the elastic joint system in appraising the optimization efficacy of SESDA. Performance of the updated self-tuned PID controller was further assessed in accordance to the recorded outputs on angular motion trajectory tracking, vibration suppression and statistical evaluations centering its pre-established control fitness function. The proposed SESDA produced 6.51 %, 5.54 % and 8.51 % improvement of fitness function, tracking error and control input energy, respectively, as compared with the standard SEDA. Acquired results ultimately confirmed the excellence of SESDA towards self-tuned PID's superior regulatory precision against the standard SEDA as well as its variants. Institute of Electrical and Electronics Engineers Inc. 2022 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/39088/1/Implementation%20of%20safe%20experimentation%20spiral%20dynamics%20algorithm.pdf pdf en http://umpir.ump.edu.my/id/eprint/39088/2/Implementation%20of%20safe%20experimentation%20spiral%20dynamics%20algorithm%20for%20self-tuning%20of%20PID%20controller%20in%20elastic%20joint%20manipulator_ABS.pdf Mohd Ashraf, Ahmad and Mohd Zaidi, Mohd Tumari and Mohd Riduwan, Ghazali and Mohd Helmi, Suid (2022) Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator. In: 2022 IEEE 10th Conference on Systems, Process and Control, ICSPC 2022 - Proceedings , 17 December 2022 , Malacca. pp. 56-61. (185865). ISBN 978-166547098-8 (Published) https://doi.org/10.1109/ICSPC55597.2022.10001789 |
| spellingShingle | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari Mohd Riduwan, Ghazali Mohd Helmi, Suid Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator |
| title | Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator |
| title_full | Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator |
| title_fullStr | Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator |
| title_full_unstemmed | Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator |
| title_short | Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator |
| title_sort | implementation of safe experimentation spiral dynamics algorithm for self-tuning of pid controller in elastic joint manipulator |
| topic | T Technology (General) TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/39088/ http://umpir.ump.edu.my/id/eprint/39088/ http://umpir.ump.edu.my/id/eprint/39088/1/Implementation%20of%20safe%20experimentation%20spiral%20dynamics%20algorithm.pdf http://umpir.ump.edu.my/id/eprint/39088/2/Implementation%20of%20safe%20experimentation%20spiral%20dynamics%20algorithm%20for%20self-tuning%20of%20PID%20controller%20in%20elastic%20joint%20manipulator_ABS.pdf |