Abstract
The paper investigates the development of intelligent hybrid collocated and non-collocated PID controller for hub motion and end point vibration suppression of double-link flexible robotic manipulator. The system was modelled using multi-layer perceptron neural network structure based on Nonlinear Autoregressive Exogenous (NARX) model. The hybrid controllers are incorporated with optimization algorithm that is ABC and PSO to find out the parameters of the PID controllers. Numerical simulation was carried out in MATLAB/Simulink to evaluate the system in term of tracking capability and vibration suppression for both links. The results show that PSO revealed the superiority over ABC in controlling the system.
| Original language | English |
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| Publication status | Published - 30 Mar 2017 |
| Event | Mechanical Engineering Research Day - Duration: 30 Mar 2017 → … |
Conference
| Conference | Mechanical Engineering Research Day |
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| Period | 30/03/17 → … |