DESIGN AN OPTIMAL PID CONTROLLER WITH NONLINEAR FUNCTION USING BACTERIA FORAGING OPTIMIZATION FOR SINGLE FLEXIBLE LINK ROBOT MANIPULATOR

المؤلفون

  • Ekhlas H. Karam Computer Engineering Department, Al-Mustansiriyah University, Baghdad, Iraq مؤلف
  • Noor S. Abdul-Jaleel Electrical Engineering Department, Al-Mustansiriyah University, Baghdad, Iraq مؤلف
  • Rokaia Sh. Habeeb Computer Engineering Department, Al-Mustansiriyah University, Baghdad, Iraq مؤلف

الكلمات المفتاحية:

single link flexible manipulator، PID controller، vibration control، bacterial foraging optimization

الملخص

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.

التنزيلات

Key Dates

منشور

2017-07-01

إصدار

مجلد 21 عدد 4 (2017): Journal of Engineering and Sustainable Development

القسم

Articles

الرخصة

Creative Commons License

هذا العمل مرخص بموجب Creative Commons Attribution 4.0 International License.

The Journal of Engineering and Sustainable Development is an open-access journal that all contents are free of charge. Articles of this journal are licensed under the terms of the Creative Commons Attribution International Public License CC-BY 4.0 (https://creativecommons.org/licenses/by/4.0/legalcode) that licensees are unrestrictly allowed to search, download, share, distribute, print, or link to the full texts of the articles, crawl them for indexing and reproduce any medium of the articles provided that they give the author(s) proper credits (citation). The journal allows the author(s) to retain the copyright of their published article.
Creative Commons-Attribution (BY)

كيفية الاقتباس

DESIGN AN OPTIMAL PID CONTROLLER WITH NONLINEAR FUNCTION USING BACTERIA FORAGING OPTIMIZATION FOR SINGLE FLEXIBLE LINK ROBOT MANIPULATOR. (2017). مجلة الهندسة والتنمية المستدامة, 21(4), 14-29. https://jeasd.uomustansiriyah.edu.iq/index.php/jeasd/article/view/469

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