PID-Based Control of a Single-Link Flexible Manipulator in Vertical Motion with Genetic Optimisation

Author

Zain, B. A Md ; Tokhi, M.O. ; Toha, S.F.

Author_Institution

Dept. of Autom. Control & Syst. Eng., Univ. of Sheffield, Sheffield, UK

fYear

2009

fDate

25-27 Nov. 2009

Firstpage

355

Lastpage

360

Abstract

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.

Keywords

finite difference methods; flexible manipulators; frequency-domain analysis; genetic algorithms; three-term control; Lagrange equation; PID-based control; finite difference method; flexible motion dynamics; frequency domains; genetic algorithms; genetic optimisation; proportional-integral-derivative based controllers; single-link flexible manipulator; vertical plane motion; Control systems; Difference equations; Finite difference methods; Genetic algorithms; Lagrangian functions; Manipulator dynamics; Motion control; Pi control; Proportional control; Three-term control; PID; genetic algorithm; single-link flexible manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Modeling and Simulation, 2009. EMS '09. Third UKSim European Symposium on

Conference_Location

Athens

Print_ISBN

978-1-4244-5345-0

Electronic_ISBN

978-0-7695-3886-0

Type

conf

DOI

10.1109/EMS.2009.86

Filename

5358758