Mohd Ashraf, Ahmad and Haszuraidah, Ishak and Ahmad Nor Kasruddin, Nasir and Normaniha, Abd Ghani (2021) Data-based PID control of flexible joint robot using adaptive safe experimentation dynamics algorithm. Bulletin of Electrical Engineering and Informatics, 10 (1). pp. 79-85. ISSN 2089-3191 (Print); 2302-9285 (Online). (Published)
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Abstract
This paper proposes the data-based PID controller of flexible joint robot based on adaptive safe experimentation dynamics (ASED) algorithm. The ASED algorithm is an enhanced version of SED algorithm where the updated tuning variable is modified to adapt to the change of the objective function. By adopting the adaptive term to the updated equation of SED, it is expected that the convergence accuracy can be further improved. The effectiveness of the ASED algorithm is verified to tune the PID controller of flexible joint robot. In this flexible joint control problem, two PID controllers are utilized to control both rotary angle tracking and vibration of flexible joint robot. The performance of the proposed data-based PID controller is assessed in terms of trajectory tracking of angular motion, vibration reduction and statistical analysis of the pre-defined control objective function. The simulation results showed that the data-based PID controller based on ASED is able to produce better control accuracy than the conventional SED based method.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Data-based control; flexible mechanism; model-free method; PID controller; Vvbration reduction |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Faculty/Division: | Faculty of Electrical & Electronic Engineering |
| Depositing User: | Dr Mohd Ashraf Ahmad |
| Date Deposited: | 11 Apr 2022 07:33 |
| Last Modified: | 11 Apr 2022 07:33 |
| URI: | http://umpir.ump.edu.my/id/eprint/33676 |
| Download Statistic: | View Download Statistics |
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