Controlling the Non-parametric Modeling of Double Link Flexible Robotic Manipulator using Hybrid PID Tuned by PType ILA.

摘要

Utilization of robotic manipulator with multi-link structure encompasses a great influence in most of the
\npresent industries. However, controlling the motion of multi-link manipulator has become a troublesome errand
\nparticularly once the flexible structure is employed. As of now, the framework utilizes the complicated arithmetic to resolve desired hub angle with the coupling result and vibration within the framework. Hence, this research aims to develop a dynamic system and controller for double-link flexible robotics manipulator (DLFRM) with the
\nenhancement on hub angle position and vibration concealment. The research utilised neural network because the model estimation supported NARX model structure. In the controllers’ development, this research focuses on selftuning controller. P-Type iterative learning algorithm (ILA) control theme was enforced to adapt the controller parameters to fulfill the required performances once there is changes to the system. The hybrid of proportionalintegral-derivate (PID) controller was developed for hub motion and end-point vibration suppression of every link respectively. The controllers were tested in MATLAB/Simulink simulation setting. The performance of the controller was compared with the fixed hybrid PID-PID controller in term of input tracking and vibration concealment. The results indicated that the proposed controller was effective to maneuver the double-link flexible robotic manipulator to the specified position with reduction of the vibration at the tip of the DLFRM structure.