Intelligent Parametric Identification of Flexible Manipulator System


(*) Corresponding author


Authors' affiliations


DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)

Abstract


This paper presents an investigation into the development of an intelligence parametric identification for a single-link flexible manipulator system using genetic algorithm (GA) and particle swarm optimization (PSO). The global search technique of GA and PSO employ different strategies in the area of algorithm design, natural basis and computational effort in order to find the solution of a given objective function. A simulation environment characterizing the dynamic behavior of flexible manipulator system was first developed using finite difference (FD) method. The flexible manipulator was driven by a bang-bang torque and the input-output data of the system acquired is used for system identification using GA and PSO techniques based on autoregressive model structure. The identification is performed on basis of minimizing the mean-squared error (MSE) between the measured and estimated outputs of the flexible manipulator. The validation of the algorithm is assessed with correlation tests and in time and frequency domains. It is demonstrated that the PSO has perform far better with the value of MSE is 3.0147×10-6 compared to GA with 1.4908×10-4. The best model obtained characterizes the dynamic behavior of the system well and will be used in the future for control design and development
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords


Dynamic Modeling; Finite Difference Method; System Identification; Single-Link Flexible Manipulator; Particle Swarm Optimization; Genetic Algorithm

Full Text:

PDF


References


R.R. Orszulik and J. Shan. (2012). Active Vibration Control using Genetic Algorithm-based System Identification and Positive Position Feedback. Smart Materials and Structures, 21(5).

M.O. Tokhi, Z. Mohamed & M.H. Shaheed. (2001). Dynamic Characterization of a Flexible Manipulator System, Robotica, Vol 19, pp 571-580.

M.O.Tokhi, A.K.M. Azad, H. Poerwanto, S. Kourtis & M.J. Baxter. (1996). A Simulink Environment for Simulation & Control of Flexible Manipulator Systems. UKACC International Conference on Control ‘96.Vol 1, University of Sheffield, UK, 2-5 September 1996, pg. 210-215

Mohammad Vakil. (2008). Dynamics and Control of Flexible Manipulators. Doctor Philosophy, University of Saskatchewan, Saskatoon, Canada.

M.S. Alam. (2012). Dynamic Modelling of Flexible Manipulator System using Genetic Algorithm. Dhaka University Journal of Science. 60(2):239-245.

Marcelin, J.-L., Optimization of the boundary conditions by genetic algorithms, (2012) International Review of Mechanical Engineering (IREME), 6 (1), pp. 50-54.

S.Z. Mohd Hashim, M.O. Tokhi and I.Z. Mat Darus. (2006). Active Vibration Control of Flexible Structures using Genetic Optimisation. Journal of Low Frequency Noise, Vibration and Active Control. Volume 25, Number 3, pp: 195-207.

M. Settles. (2005). An Introduction to Particle Swarm Optimization. Department of Computer Science, University of Idaho.

S. Julai, M.O. Tokhi, M. Mohamad & I.A. Latiff. (2009). Control of a Flexible Plate Structure using Particle Swarm Optimization. Evolutionary Computation, 2009, CEC’09. Trondheim, 18-21 May 2009, pp 3183-3190.

Hanhong Zhu, Yi Wang, Kesheng Wang, Yun Chen. (2011). Particle Swarm Optimization (PSO) for the constrained portfolio optimization problem. Expert Systems with Applications, Volume 38, Issue 8, August 2011, Pages 10161-10169.

S.M. Salleh, M.O. Tokhi, S. Julai, M.Mohamad and I.A. Latiff. (2009). PSO-Based Parametric Modelling of a Thin Plate Structure. 2009 Third UKSim European symposium on Computer Modeling and Simulation. Pp:43-48.

S. Panda and N.P. Padhy. (2007). Comparison of Particle Swarm Optimization and Genetic Algorithm for TCSC-based Controller Design. International Journal of Computer Science and Engineering. 1(1).

M.O. Tokhi & A.K.M. Azad. (2008). Flexible Robot Manipulators: Modelling, Simulation & Control. London, UK: Institution of Engineering & Technology.

H. Mohd Yatim, I.Z. Mat Darus & M. Mohamad. (2012). Parametric Identification and Dynamic Characterisation of Flexible Manipulator System. 2012 IEEE Conference on Control, Systems & Industrial Informatics,ICCSII2012. Bandung, Indonesia, 23-26 September 2012

Blevins R.D. (1979). Formulas for Natural Frequency & Mode Shape. New York: Van Nostrand Reinhold.

I.Z. Mat Darus, F.M. Aldebrez & M.O. Tokhi. (2004). Parametric Modeling of a Twin Rotor System using Genetic Algorithms. Proceedings of the 1st IEEE International Symposium on Control, Communications and Signal Processing, ISCCSP 2004, Hammamet, Tunisia, 21-24 March 2004.

A.R. Tavakolpour, I.Z. Mat Darus, M.O. Tokhi and M. Mailah. (2010). Genetic Algorithm-based Identification of Transfer Function Parameters for a Rectangular Flexible Plate System. Engineering Applications of Artificial Intelligence. 23(8), 1388-1397.

Hadi, M.S., Mat Darus, I.Z., Intelligence swarm model optimization of flexible plate structure system, (2013) International Review of Automatic Control (IREACO), 6 (3), pp. 322-331.

Tavakolpour, A.R., Mailah, M., Mat Darus, I.Z., Active vibration control of a rectangular flexible plate structure using high gain feedback regulator, (2009) International Review of Mechanical Engineering (IREME), 3 (5), pp. 579-587.

Safizadeh, M.R., Mat Darus, I.Z., Natural frequency analysis of all edges clamped flexible thin plate, (2010) International Review of Mechanical Engineering (IREME), 4 (4), pp. 433-440.


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize