Intelligent PID controller of flexible link manipulator with payload
This paper presents the experimental study of intelligent PID controller with the present of payload. The controllers were constructed to optimally track the desired hub angle and vibration suppression of DLFRM. The hub angle and end-point vibration models were identified based on NNARX structure. T...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2020
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| Online Access: | http://eprints.utm.my/92930/1/IntanZaurah2020_IntelligentPIDControllerofFlexibleLink.pdf |
| _version_ | 1796865521826660352 |
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| author | Jamali, A. Mat Darus, I. Z. Tokhi, M. O. |
| author_facet | Jamali, A. Mat Darus, I. Z. Tokhi, M. O. |
| author_sort | Jamali, A. |
| collection | ePrints |
| description | This paper presents the experimental study of intelligent PID controller with the present of payload. The controllers were constructed to optimally track the desired hub angle and vibration suppression of DLFRM. The hub angle and end-point vibration models were identified based on NNARX structure. The results of all developed controllers were analyzed in terms of trajectory tracking and vibration suppression of DLFRM subjected to disturbance. The simulation studies showed that the intelligent PID controllers have provided good performance. Further investigation via experimental studies was carried out. The results revealed that the intelligent PID control structure able to show similar performance up to 20 g of payload hold by the system. Once the payload increased more than 20 g, the performance of the controller degrades. Thus, it can be concluded that, the controllers can be applied in real application, provided the tuning process were carried out with the existence of the maximum payload which will be subjected in the system. The 20 g payload value can act as uncertainty for the controller performance. |
| first_indexed | 2024-03-05T20:58:17Z |
| format | Conference or Workshop Item |
| id | utm.eprints-92930 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T20:58:17Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | utm.eprints-929302021-11-07T05:55:02Z http://eprints.utm.my/92930/ Intelligent PID controller of flexible link manipulator with payload Jamali, A. Mat Darus, I. Z. Tokhi, M. O. TJ Mechanical engineering and machinery This paper presents the experimental study of intelligent PID controller with the present of payload. The controllers were constructed to optimally track the desired hub angle and vibration suppression of DLFRM. The hub angle and end-point vibration models were identified based on NNARX structure. The results of all developed controllers were analyzed in terms of trajectory tracking and vibration suppression of DLFRM subjected to disturbance. The simulation studies showed that the intelligent PID controllers have provided good performance. Further investigation via experimental studies was carried out. The results revealed that the intelligent PID control structure able to show similar performance up to 20 g of payload hold by the system. Once the payload increased more than 20 g, the performance of the controller degrades. Thus, it can be concluded that, the controllers can be applied in real application, provided the tuning process were carried out with the existence of the maximum payload which will be subjected in the system. The 20 g payload value can act as uncertainty for the controller performance. 2020 Conference or Workshop Item PeerReviewed application/pdf en http://eprints.utm.my/92930/1/IntanZaurah2020_IntelligentPIDControllerofFlexibleLink.pdf Jamali, A. and Mat Darus, I. Z. and Tokhi, M. O. (2020) Intelligent PID controller of flexible link manipulator with payload. In: 3rd International Conference on Mechanical, Electronics, Computer, and Industrial Technology, MECnIT 2020, 25 - 26 June 2020, Medan, Indonesia. http://dx.doi.org/10.1109/MECnIT48290.2020.9166609 |
| spellingShingle | TJ Mechanical engineering and machinery Jamali, A. Mat Darus, I. Z. Tokhi, M. O. Intelligent PID controller of flexible link manipulator with payload |
| title | Intelligent PID controller of flexible link manipulator with payload |
| title_full | Intelligent PID controller of flexible link manipulator with payload |
| title_fullStr | Intelligent PID controller of flexible link manipulator with payload |
| title_full_unstemmed | Intelligent PID controller of flexible link manipulator with payload |
| title_short | Intelligent PID controller of flexible link manipulator with payload |
| title_sort | intelligent pid controller of flexible link manipulator with payload |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/92930/1/IntanZaurah2020_IntelligentPIDControllerofFlexibleLink.pdf |
| work_keys_str_mv | AT jamalia intelligentpidcontrollerofflexiblelinkmanipulatorwithpayload AT matdarusiz intelligentpidcontrollerofflexiblelinkmanipulatorwithpayload AT tokhimo intelligentpidcontrollerofflexiblelinkmanipulatorwithpayload |