Evolutionary algorithms for active vibration control of flexible manipulator

Flexible manipulator systems offer numerous advantages over their rigid counterparts including light weight, faster system response, among others. However, unwanted vibration will occur when flexible manipulator is subjected to disturbances. If the advantages of flexible manipulator are not to be sa...

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Main Author:	Mohd. Yatim, Hanim
Format:	Thesis
Language:	English
Published:	2016
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/78068/1/HanimMohdYatimPFKM2016.pdf
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spelling	my-utm-ep.780682018-07-23T06:05:54Z Evolutionary algorithms for active vibration control of flexible manipulator 2016-03 Mohd. Yatim, Hanim TJ Mechanical engineering and machinery Flexible manipulator systems offer numerous advantages over their rigid counterparts including light weight, faster system response, among others. However, unwanted vibration will occur when flexible manipulator is subjected to disturbances. If the advantages of flexible manipulator are not to be sacrificed, an accurate model and efficient control system must be developed. This thesis presents the development of a Proportional-Integral-Derivative (PID) controller tuning method using evolutionary algorithms (EA) for a single-link flexible manipulator system. Initially, a single link flexible manipulator rig, constrained to move in horizontal direction, was designed and fabricated. The input and output experimental data of the hub angle and endpoint acceleration of the flexible manipulator were acquired. The dynamics of the system was later modeled using a system identification (SI) method utilizing EA with linear auto regressive with exogenous (ARX) model structure. Two novel EAs, Genetic Algorithm with Parameter Exchanger (GAPE) and Particle Swarm Optimization with Explorer (PSOE) have been developed in this study by modifying the original Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) algorithms. These novel algorithms were introduced for the identification of the flexible manipulator system. Their effectiveness was then evaluated in comparison to the original GA and PSO. Results indicated that the identification of the flexible manipulator system using PSOE is better compared to other methods. Next, PID controllers were tuned using EA for the input tracking and the endpoint vibration suppression of the flexible manipulator structure. For rigid motion control of hub angle, an auto-tuned PID controller was implemented. While for vibration suppression of the endpoint, several PID controllers were tuned using GA, GAPE, PSO and PSOE. The results have shown that the conventional auto-tuned PID was effective enough for the input tracking of the rigid motion. However, for end-point vibration suppression, the result showed the superiority of PID-PSOE in comparison to PID-GA, PID-GAPE and PID-PSO. The performance of the best simulated controller was validated experimentally later. Through experimental validation, it was found that the PID-PSOE was capable to suppress the vibration of the single-link flexible manipulator with highest attenuation of 31.3 dB at the first mode of the vibration. The outcomes of this research revealed the effectiveness of the PID controller tuned using PSOE for the endpoint vibration suppression of the flexible manipulator amongst other evolutionary methods. 2016-03 Thesis http://eprints.utm.my/id/eprint/78068/ http://eprints.utm.my/id/eprint/78068/1/HanimMohdYatimPFKM2016.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:97142 phd doctoral Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Mohd. Yatim, Hanim Evolutionary algorithms for active vibration control of flexible manipulator
description	Flexible manipulator systems offer numerous advantages over their rigid counterparts including light weight, faster system response, among others. However, unwanted vibration will occur when flexible manipulator is subjected to disturbances. If the advantages of flexible manipulator are not to be sacrificed, an accurate model and efficient control system must be developed. This thesis presents the development of a Proportional-Integral-Derivative (PID) controller tuning method using evolutionary algorithms (EA) for a single-link flexible manipulator system. Initially, a single link flexible manipulator rig, constrained to move in horizontal direction, was designed and fabricated. The input and output experimental data of the hub angle and endpoint acceleration of the flexible manipulator were acquired. The dynamics of the system was later modeled using a system identification (SI) method utilizing EA with linear auto regressive with exogenous (ARX) model structure. Two novel EAs, Genetic Algorithm with Parameter Exchanger (GAPE) and Particle Swarm Optimization with Explorer (PSOE) have been developed in this study by modifying the original Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) algorithms. These novel algorithms were introduced for the identification of the flexible manipulator system. Their effectiveness was then evaluated in comparison to the original GA and PSO. Results indicated that the identification of the flexible manipulator system using PSOE is better compared to other methods. Next, PID controllers were tuned using EA for the input tracking and the endpoint vibration suppression of the flexible manipulator structure. For rigid motion control of hub angle, an auto-tuned PID controller was implemented. While for vibration suppression of the endpoint, several PID controllers were tuned using GA, GAPE, PSO and PSOE. The results have shown that the conventional auto-tuned PID was effective enough for the input tracking of the rigid motion. However, for end-point vibration suppression, the result showed the superiority of PID-PSOE in comparison to PID-GA, PID-GAPE and PID-PSO. The performance of the best simulated controller was validated experimentally later. Through experimental validation, it was found that the PID-PSOE was capable to suppress the vibration of the single-link flexible manipulator with highest attenuation of 31.3 dB at the first mode of the vibration. The outcomes of this research revealed the effectiveness of the PID controller tuned using PSOE for the endpoint vibration suppression of the flexible manipulator amongst other evolutionary methods.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Mohd. Yatim, Hanim
author_facet	Mohd. Yatim, Hanim
author_sort	Mohd. Yatim, Hanim
title	Evolutionary algorithms for active vibration control of flexible manipulator
title_short	Evolutionary algorithms for active vibration control of flexible manipulator
title_full	Evolutionary algorithms for active vibration control of flexible manipulator
title_fullStr	Evolutionary algorithms for active vibration control of flexible manipulator
title_full_unstemmed	Evolutionary algorithms for active vibration control of flexible manipulator
title_sort	evolutionary algorithms for active vibration control of flexible manipulator
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2016
url	http://eprints.utm.my/id/eprint/78068/1/HanimMohdYatimPFKM2016.pdf
_version_	1747817899168366592

Evolutionary algorithms for active vibration control of flexible manipulator

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