Control of a manipulator using shuffled complex evolution

Author

Hassanzadeh, Iraj ; Amiri, Mohsen ; Kashtiban, Atabak M.

Author_Institution

Control Eng. Dept., Univ. of Tabriz, Tabriz, Iran

fYear

2009

fDate

5-8 Nov. 2009

Abstract

Many Proportional-Integral-Derivative (PID) controller design methods on nonlinear systems are reported in recent years due to its simple structure and powerful performance. This paper presents Shuffled Complex Evolution (SCE) method for PID design process that yields more optimum parameters. By adding saturation constraint to the system, our model is more precise than other reported researches. Also we have improved the cost function formulation of the optimization problem. The PID controller has been applied on a 5-bar-linkage manipulator.

Keywords

manipulators; nonlinear control systems; optimal control; optimisation; three-term control; 5-bar-linkage manipulator; PID controller design; cost function formulation; optimization problem; proportional-integral-derivative control; saturation constraint; shuffled complex evolution method; Control systems; Cost function; Design methodology; Nonlinear control systems; Nonlinear systems; Pi control; Power system modeling; Process design; Proportional control; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Electronics Engineering, 2009. ELECO 2009. International Conference on

Conference_Location

Bursa

Print_ISBN

978-1-4244-5106-7

Electronic_ISBN

978-9944-89-818-8

Type

conf

Filename

5355302