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Design an optimal PID controller with nonlinear function using Bacteria Foraging Optimization for single flexible link robot manipulator
Other Title(s)
تصميم مسيطر PID امثل ذو دالة غير خطية باستخدام طريقة BFO للسيطرة على ذراع روبوت مرن أحادي الوصلة
Joint Authors
Abd al-Jalil, Nur S.
Habib, Ruqayah Sh.
Karam, Ikhlas H.
Source
Journal of Engineering and Sustainable Development
Issue
Vol. 21, Issue 4 (31 Jul. 2017), pp.14-29, 16 p.
Publisher
al-Mustansyriah University College of Engineering
Publication Date
2017-07-31
Country of Publication
Iraq
No. of Pages
16
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
This paper presents an optimal design of a modified Proportional Integral Derivative (PID) controller with nonlinear signum function for vibration control of a single-link flexible manipulator system.
This manipulator is a Single Input Multi Output (SIMO) system with applied torque as the input signal, and the hub angle and tip deflection as the outputs.
The dynamic model of the flexible link system is represented by finite element method.
The Bacteria Foraging Optimization (BFO) algorithm is used to tune the parameters of the PID controller.
A nonlinear signum function is added to improve the performance of this controller.
Different types of inputs are tested with different payloads to illustrate the robustness of the control scheme.
The scheme successfully reduces the effect of the vibration and minimize it to zero at the tip-end, even with payload variation.
American Psychological Association (APA)
Karam, Ikhlas H.& Abd al-Jalil, Nur S.& Habib, Ruqayah Sh.. 2017. Design an optimal PID controller with nonlinear function using Bacteria Foraging Optimization for single flexible link robot manipulator. Journal of Engineering and Sustainable Development،Vol. 21, no. 4, pp.14-29.
https://search.emarefa.net/detail/BIM-848636
Modern Language Association (MLA)
Karam, Ikhlas H.…[et al.]. Design an optimal PID controller with nonlinear function using Bacteria Foraging Optimization for single flexible link robot manipulator. Journal of Engineering and Sustainable Development Vol. 21, no. 4 (Jul. 2017), pp.14-29.
https://search.emarefa.net/detail/BIM-848636
American Medical Association (AMA)
Karam, Ikhlas H.& Abd al-Jalil, Nur S.& Habib, Ruqayah Sh.. Design an optimal PID controller with nonlinear function using Bacteria Foraging Optimization for single flexible link robot manipulator. Journal of Engineering and Sustainable Development. 2017. Vol. 21, no. 4, pp.14-29.
https://search.emarefa.net/detail/BIM-848636
Data Type
Journal Articles
Language
English
Notes
Record ID
BIM-848636