Optimized FOPID Control of a Single Link Flexible Manipulator (SLFM) Using Genetic Algorithm

Abstract:

This paper implements Fractional Order PID (FOPID) controller to control the rotate angle of a Single Link Flexible Manipulator (SLFM). The optimum parameters were found using Genetic Algorithm where a cost function based on the Integral Sqarred Error, ISE, index (cost/objective function) was minimized. The basic model is presented and the operating principle of the device is discussed. A control scheme to increase the system damping and improve the system response is proposed where a FOPID controller is used. To show the effectiveness of the designed controller, its responses, following divers tests, were compared to those obtained using an optimized PID with GA and using the same cost function. The results show encouragement to pursue further this research axis.

• Periodical: Applied Mechanics and Materials (Volume 704)
• Pages: 336-340
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.704.336
• Online since: December 2014
• Authors: Ahmed Bensenouci, Mohamed Shehata
• Keywords: Fractional Order Proportional-Integral-Derivative (FOPID), Genetic Algorithm (GA), Single Link Flexible Manipulator (SLFM)

References

[1] Sun, D., Mills, J.K., Shan J., Tso S.K.: A PZT actuator control of a single-link flexible manipulator based on linear velocity feedback and actuator placement. Mechatronics 14, 381-401 (2004).

DOI: 10.1016/s0957-4158(03)00066-7

[2] Homaifar, A., Shen, Y.: Vibration Control of Plate Structures Using PZT Actuators and Type II Fuzzy Logic. In: Proceedings of the American Control Conference, pp.1575-1580. AACC, Arlington, USA (2001).

DOI: 10.1109/acc.2001.945951

[3] Jun-Yi Cao and Bing-Gang Cao, Design of fractional order controller based on particle swarm optimization, Int. J. Control, Automation and Systems, vol. 4, no. 6, pp.775-781, (2006).

[4] Chunna_Zhao, Xiangde_Zhang, The Application of fractional Order PID Controller to Position Servomechanism, Proceedings of the 7th World Congress on Intelligent Control and Automation, June 25 - 27, 2008, Chongqing, China.

DOI: 10.1109/wcica.2008.4593462

[5] Monje, Conception a Fractional-order systems and controls: fundamentals and applications. Springer, (2010).

[6] Zamani, Majid, et al., Design of a fractional order PID controller for an AVR using particle swarm optimization, Control Engineering Practice, vol. 17, no. 12, pp.1380-1387, (2009).

DOI: 10.1016/j.conengprac.2009.07.005

[7] Podludny I., Fractional-order systems and controllers, IEEE Transactions on Automatic Control, vol. 44, pp.208-214, (1999).

[8] Sun H., Abdelwahab A. and Onaral B., Linear approximation of transfer function with a pole of fractional power, IEEE Trans. Automation and Control, vol. 29, May 1984, pp.441-444. ].

DOI: 10.1109/tac.1984.1103551

[9] Oustaloup A., Mathieu B., and Lanusse P., ―The CRONE control of resonant plants: application to a flexible transmission, " European Journal of Control, vol. 1, no. 2, 1995. ].

DOI: 10.1016/s0947-3580(95)70014-0

[10] Karanjkar D. S., Chatterji. S., Venkateswaran P.R., Trends in Fractional Order Controllers, International Journal of Emerging Technology and Advanced Engineering, IJETAE, Vol. 2, Issue 3, March (2012).