PID-based Control of a Single-Link Flexible Manipulator in Vertical Motion with Genetic Optimisation

被引：13

作者：

Zain, B. A. Md ^{[1
]}

Tokhi, M. O. ^{[1
]}

Toha, S. F. ^{[1
]}

机构：

[1] Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S10 2TN, S Yorkshire, England

来源：

2009 THIRD UKSIM EUROPEAN SYMPOSIUM ON COMPUTER MODELING AND SIMULATION (EMS 2009) | 2009年

关键词：

PID; genetic algorithm; single-link flexible manipulator;

D O I：

10.1109/EMS.2009.86

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper presents an investigation into dynamic simulation and controller optimization based on genetic algorithms (GAs) for a single-link flexible manipulator system in vertical plane motion. The dynamic model of the system is derived using the Lagrange equation and discretised using the finite difference (FD) method. GA optimization is used to optimize the parameters of the proportional-integral-derivative (PID) based controllers for control of rigid-body and flexible motion dynamics of the system. The important point is to evaluate the range of PID parameter which used in the GAs programmed to find the best value of this parameter. Comparative performance assessment of the control approaches are presented and discussed in the time and the frequency domains.

引用

页码：355 / 360

页数：6

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