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A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation

Nik Mohd Zaitul Akmal, Mustapha and Mohd Helmi, Suid and Raja Mohd Taufika, Raja Ismail and Ahmad Nor Kasruddin, Nasir and Mohd Ashraf, Ahmad and Mohd Zaidi, Mohd Tumari (2018) A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation. In: 7th International Conference on Design and Concurrent Engineering 2018 (IDECON2018), 17 - 18 September 2018 , Kuching, Sarawak. pp. 1-5.. (Unpublished)

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Abstract

This paper presents a data-driven PID control scheme based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. Here, the conventional SPSA is modified by introducing a normalized gradient approximation to update the design variable. To be more specific, each measurement of the objective function from the perturbations is normalized to the maximum objective function measurement at the current iteration. As a result, this improvement is expected to avoid the updated control parameter from producing an unstable control performance. The effectiveness of the normalized SPSA is tested to datadriven PID control scheme of flexible joint plant. The simulation results are presented in terms of the convergence responses and control performances. The outcome of this paper shows that the data-driven controller tuning using the normalized SPSA is able to provide stable and better control performances as compared to the existing modified SPSA

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Data-driven; Improved stochastic approximation; PID controller tuning
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 01 Jan 2019 12:27
Last Modified: 01 Jan 2019 12:27
URI: http://umpir.ump.edu.my/id/eprint/23227
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