Mohd Ikhmil Fadzrizan, Mohd Hanif and Ahmad, Mohd Ashraf and Jui, Julakha Jahan (2021) PID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator. Journal Europeen des Systemes Automatises, 54 (5). pp. 693-698. ISSN 1269-6935. (Published)
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Abstract
This paper proposed the chaotic safe experimentation dynamics algorithm (CSEDA) to regulate angular tracking and vibration of the self-tuning PID controller for elastic joint manipulators. CSEDA was a modified version of the safe experimentation dynamics algorithm (SEDA) that used a chaos function in the updated equation. The chaos function increased the exploration capability, thus improving the convergence accuracy. In this study, two self-tuning PID controllers were used to regulate the rotating angle tracking and vibration for elastic joint manipulators in this control challenge. The suggested self-tuning PID controller's performance was evaluated in angular motion trajectory tracking, vibration suppression, and the pre-determined control fitness function. A self-tuned PID controller based on CSEDA could achieve superior control accuracy than a traditional SEDA and its variants.
| Item Type: | Article |
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| Uncontrolled Keywords: | vibration reduction, flexible mechanism, PID controller, self-tuned control, data-based method |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering Institute of Postgraduate Studies |
| Depositing User: | Dr Mohd Ashraf Ahmad |
| Date Deposited: | 18 Nov 2021 07:33 |
| Last Modified: | 18 Nov 2021 07:33 |
| URI: | http://umpir.ump.edu.my/id/eprint/32599 |
| Download Statistic: | View Download Statistics |
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