Simultaneous control of position and vibration of flexible link manipulator by nature-inspired algorithms

This work aims to present a comparative study of three different nature-inspired soft computing based PID control tuning strategies for position control and vibration suppression of a single link flexible manipulator. The dynamic modeling of the flexible link manipulator comprises modeling of the flexible link and rotational base utilizing Lagrange's technique. PID controller is employed for positon control/tracking and vibration suppression of the flexible link manipulator. The effectiveness and potency of the proposed soft computing method compared with the traditional method. The obtained results indicate that use of soft computing based PID controller parameter tuning improves the performance of the system in terms of set-point tracking, vibration suppression, time domain specifications and provides an optimum stability fur regulatory changes.