Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator
This paper presents an improved version of a Spiral Dynamic Algorithm (SDA). The original SDA is a relatively simple optimization algorithm. It uses a spiral strategy to move search agents within the feasible search space. However, SDA suffers from a premature convergence due to an unbalanced divers...
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| Format: | Conference or Workshop Item |
| Language: | English English |
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IEEE
2019
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| Online Access: | http://umpir.ump.edu.my/id/eprint/28422/1/44.%20Opposition%20based%20spiral%20dynamic%20algorithm%20with%20an%20application%20to%20a%20pid%20control%20of%20a%20flexible%20manipulator.pdf http://umpir.ump.edu.my/id/eprint/28422/2/44.1%20Opposition%20based%20spiral%20dynamic%20algorithm%20with%20an%20application%20to%20a%20pid%20control%20of%20a%20flexible%20manipulator.pdf |
| _version_ | 1825813351279624192 |
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| author | Ahmad Azwan, Abdul Razak Ahmad Nor Kasruddin, Nasir Mohd Falfazli, Mat Jusof Shuhairie, Mohammad Nurul Amira, Mhd Rizal |
| author_facet | Ahmad Azwan, Abdul Razak Ahmad Nor Kasruddin, Nasir Mohd Falfazli, Mat Jusof Shuhairie, Mohammad Nurul Amira, Mhd Rizal |
| author_sort | Ahmad Azwan, Abdul Razak |
| collection | UMP |
| description | This paper presents an improved version of a Spiral Dynamic Algorithm (SDA). The original SDA is a relatively simple optimization algorithm. It uses a spiral strategy to move search agents within the feasible search space. However, SDA suffers from a premature convergence due to an unbalanced diversification and intensification throughout its search operation. Hence, the algorithm unable to acquire an optimal accuracy solution. An Opposition learning is adopted into SDA to improve the searching strategy of the SDA agents. Therefore in the proposed strategy, a random and a deterministic approaches are synergized and complement each other. The algorithm is tested on several benchmark functions in comparison to the original SDA. A statistical nonparametric Wilcoxon sign rank test is conducted to analyze the accuracy achievement of both algorithms. For solving a real world application, the algorithms are applied to optimize a PID controller for a flexible manipulator system. Result of the test on the benchmark functions shows that the Opposition based SDA outperformed the SDA significantly. For solving the PID control design, both algorithms acquire PID parameters and hence can control the flexible manipulator very well. However, the proposed algorithm shows a better control response. |
| first_indexed | 2024-03-06T12:42:41Z |
| format | Conference or Workshop Item |
| id | UMPir28422 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:42:41Z |
| publishDate | 2019 |
| publisher | IEEE |
| record_format | dspace |
| spelling | UMPir284222022-06-15T03:50:56Z http://umpir.ump.edu.my/id/eprint/28422/ Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator Ahmad Azwan, Abdul Razak Ahmad Nor Kasruddin, Nasir Mohd Falfazli, Mat Jusof Shuhairie, Mohammad Nurul Amira, Mhd Rizal TK Electrical engineering. Electronics Nuclear engineering This paper presents an improved version of a Spiral Dynamic Algorithm (SDA). The original SDA is a relatively simple optimization algorithm. It uses a spiral strategy to move search agents within the feasible search space. However, SDA suffers from a premature convergence due to an unbalanced diversification and intensification throughout its search operation. Hence, the algorithm unable to acquire an optimal accuracy solution. An Opposition learning is adopted into SDA to improve the searching strategy of the SDA agents. Therefore in the proposed strategy, a random and a deterministic approaches are synergized and complement each other. The algorithm is tested on several benchmark functions in comparison to the original SDA. A statistical nonparametric Wilcoxon sign rank test is conducted to analyze the accuracy achievement of both algorithms. For solving a real world application, the algorithms are applied to optimize a PID controller for a flexible manipulator system. Result of the test on the benchmark functions shows that the Opposition based SDA outperformed the SDA significantly. For solving the PID control design, both algorithms acquire PID parameters and hence can control the flexible manipulator very well. However, the proposed algorithm shows a better control response. IEEE 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/28422/1/44.%20Opposition%20based%20spiral%20dynamic%20algorithm%20with%20an%20application%20to%20a%20pid%20control%20of%20a%20flexible%20manipulator.pdf pdf en http://umpir.ump.edu.my/id/eprint/28422/2/44.1%20Opposition%20based%20spiral%20dynamic%20algorithm%20with%20an%20application%20to%20a%20pid%20control%20of%20a%20flexible%20manipulator.pdf Ahmad Azwan, Abdul Razak and Ahmad Nor Kasruddin, Nasir and Mohd Falfazli, Mat Jusof and Shuhairie, Mohammad and Nurul Amira, Mhd Rizal (2019) Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator. In: 9th IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2019) , 29 November - 1 December 2019 , Penang, Batu Ferringhi. pp. 126-130. (19533470). ISBN 978-1-7281-3500-7 (Published) https://doi.org/10.1109/ICCSCE47578.2019.9068556 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Ahmad Azwan, Abdul Razak Ahmad Nor Kasruddin, Nasir Mohd Falfazli, Mat Jusof Shuhairie, Mohammad Nurul Amira, Mhd Rizal Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator |
| title | Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator |
| title_full | Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator |
| title_fullStr | Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator |
| title_full_unstemmed | Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator |
| title_short | Opposition based Spiral Dynamic Algorithm with an Application to a PID Control of a Flexible Manipulator |
| title_sort | opposition based spiral dynamic algorithm with an application to a pid control of a flexible manipulator |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/28422/1/44.%20Opposition%20based%20spiral%20dynamic%20algorithm%20with%20an%20application%20to%20a%20pid%20control%20of%20a%20flexible%20manipulator.pdf http://umpir.ump.edu.my/id/eprint/28422/2/44.1%20Opposition%20based%20spiral%20dynamic%20algorithm%20with%20an%20application%20to%20a%20pid%20control%20of%20a%20flexible%20manipulator.pdf |
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