Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator

Mohd Ashraf, Ahmad and Mohd Zaidi, Mohd Tumari and Mohd Riduwan, Ghazali and Mohd Helmi, Suid (2022) Implementation of safe experimentation spiral dynamics algorithm for self-tuning of PID controller in elastic joint manipulator. In: 2022 IEEE 10th Conference on Systems, Process and Control, ICSPC 2022 - Proceedings , 17 December 2022 , Malacca. pp. 56-61. (185865). ISBN 978-166547098-8

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DOI/Official URL: https://doi.org/10.1109/ICSPC55597.2022.10001789

Abstract

This paper exclusively endorses the optimization of self-tuned PID using Safe Experimentation Spiral Dynamic Algorithm (SESDA) for elastic joint handling. SESDA is hereby devised by adoption of spiral function to a standard Safe Experimentation Dynamics Algorithm (SEDA). Such modification is implemented to exploit the ability of spiral function in enhancing both the algorithm's exploration competency and convergence accuracy. Rotating angle tracking and vibration were then commanded by employing a pair of self-tuned PID controllers to the elastic joint system in appraising the optimization efficacy of SESDA. Performance of the updated self-tuned PID controller was further assessed in accordance to the recorded outputs on angular motion trajectory tracking, vibration suppression and statistical evaluations centering its pre-established control fitness function. The proposed SESDA produced 6.51 %, 5.54 % and 8.51 % improvement of fitness function, tracking error and control input energy, respectively, as compared with the standard SEDA. Acquired results ultimately confirmed the excellence of SESDA towards self-tuned PID's superior regulatory precision against the standard SEDA as well as its variants.

Item Type:	Conference or Workshop Item (Paper)
Additional Information:	Indexed by Scopus
Uncontrolled Keywords:	Data-based approach; Flexible structure; PID; Self-tuned handling; Vibration suppression
Subjects:	T Technology > T Technology (General) T Technology > TA Engineering (General). Civil engineering (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	College of Engineering Faculty of Electrical and Electronic Engineering Technology
Depositing User:	Mr Muhamad Firdaus Janih@Jaini
Date Deposited:	14 Nov 2023 03:53
Last Modified:	14 Nov 2023 03:53
URI:	http://umpir.ump.edu.my/id/eprint/39088
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