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Hub angle control of flexible manipulator based on bacterial foraging optimization

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, exces...

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Main Authors:	Mohd. Salme, Muhammad Nazri, Hadi, Muhamad Sukri, Jamali, Annisa, Mohd. Yatim, Hanim, Ab. Talib, Mat Hussin, Mat Darus, Intan Zaurah
Format:	Book Section
Published:	Springer Science and Business Media Deutschland GmbH 2022
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/100656/ http://dx.doi.org/10.1007/978-981-19-2095-0_17
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spelling	my.utm.1006562023-04-30T08:26:22Z http://eprints.utm.my/id/eprint/100656/ Hub angle control of flexible manipulator based on bacterial foraging optimization Mohd. Salme, Muhammad Nazri Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah TJ Mechanical engineering and machinery 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 1.9694,10-5, a high degree of stability, and strong correlation tests. The model of hub angle constructed using BFO has a minimum mean square error of 1.9694,10-5, 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. Springer Science and Business Media Deutschland GmbH 2022 Book Section PeerReviewed Mohd. Salme, Muhammad Nazri and Hadi, Muhamad Sukri and Jamali, Annisa and Mohd. Yatim, Hanim and Ab. Talib, Mat Hussin and Mat Darus, Intan Zaurah (2022) Hub angle control of flexible manipulator based on bacterial foraging optimization. In: Enabling Industry 4.0 through Advances in Mechatronics Selected Articles from iM3F 2021, Malaysia. Lecture Notes in Electrical Engineering, 900 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, pp. 181-192. ISBN 978-981192094-3 http://dx.doi.org/10.1007/978-981-19-2095-0_17 DOI:10.1007/978-981-19-2095-0_17
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Mohd. Salme, Muhammad Nazri Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah Hub angle control of flexible manipulator based on bacterial foraging optimization
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 1.9694,10-5, a high degree of stability, and strong correlation tests. The model of hub angle constructed using BFO has a minimum mean square error of 1.9694,10-5, 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.
format	Book Section
author	Mohd. Salme, Muhammad Nazri Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah
author_facet	Mohd. Salme, Muhammad Nazri Hadi, Muhamad Sukri Jamali, Annisa Mohd. Yatim, Hanim Ab. Talib, Mat Hussin Mat Darus, Intan Zaurah
author_sort	Mohd. Salme, Muhammad Nazri
title	Hub angle control of flexible manipulator based on bacterial foraging optimization
title_short	Hub angle control of flexible manipulator based on bacterial foraging optimization
title_full	Hub angle control of flexible manipulator based on bacterial foraging optimization
title_fullStr	Hub angle control of flexible manipulator based on bacterial foraging optimization
title_full_unstemmed	Hub angle control of flexible manipulator based on bacterial foraging optimization
title_sort	hub angle control of flexible manipulator based on bacterial foraging optimization
publisher	Springer Science and Business Media Deutschland GmbH
publishDate	2022
url	http://eprints.utm.my/id/eprint/100656/ http://dx.doi.org/10.1007/978-981-19-2095-0_17
_version_	1765296684048318464
score	13.211869

Hub angle control of flexible manipulator based on bacterial foraging optimization

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