Hub Angle Control of Flexible Manipulator Based on Bacterial Foraging Optimization
Lecture Notes in Electrical Engineering, ISSN: 1876-1119, Vol: 900, Page: 181-192
2022
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
Conference Paper Description
Flexible manipulator offers industry with less material requirement, lighter in weight thus transportable, consuming less power, require smaller actuators, less control complexity while being able to operate in higher payload to weight. But, due to high flexibility of the flexible manipulator, excessive vibration can be found if the system is implemented. This study aims to simulate an accurate model system using system identification (SI) technique via Bacterial Foraging Optimization (BFO) for control of the hub angle of the flexible manipulator system in simulation environment. It is vital to model the system that represents actual characteristics of the flexible manipulator before precisely control the hub angle of the flexible manipulator’s movement. The experimental data obtained from the flexible manipulator system’s hub are utilised to construct a model of the system using an auto-regressive with exogenous (ARX) structure. Bacterial Foraging Optimization (BFO) is used to develop the modelling by SI technique to obtain the mathematical models. The generated model’s performance is assessed using three methods: minimum mean square error (MSE), correlation tests, and stability test in pole-zero diagram. The model of hub angle constructed using BFO has a minimum mean square error of 1.9694,10, a high degree of stability, and strong correlation tests. The model of hub angle constructed using BFO has a minimum mean square error of 1.9694,10, a high degree of stability, and strong correlation results. Following that, a PID controller is designed and heuristically tuned to provide accurate hub angle positioning with a short settling time using the BFO model. It is also worth noting that BFO’s model successfully regulated the hub angle’s positioning with a 0.8% overshoot and a 0.5242 s settling time in the presence of single disturbances.
Bibliographic Details
http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=85131123487&origin=inward; http://dx.doi.org/10.1007/978-981-19-2095-0_17; https://link.springer.com/10.1007/978-981-19-2095-0_17; https://dx.doi.org/10.1007/978-981-19-2095-0_17; https://link.springer.com/chapter/10.1007/978-981-19-2095-0_17
Springer Science and Business Media LLC
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