Open AccessPID Tuning Method Using Chaotic Safe Experimentation Dynamics Algorithm for Elastic Joint Manipulator
Author(s) -
Mohd Hanif Mohd Ikhmil Fadzrizan,
Mohd Ashraf Ahmad,
Julakha Jahan Jui
Publication year - 2021
Publication title -
journal européen des systèmes automatisés/journal européen des systèmes automaitsés
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.16
H-Index - 20
eISSN - 2116-7087
pISSN - 1269-6935
DOI - 10.18280/jesa.540504
Subject(s) - pid controller , control theory (sociology) , chaotic , vibration , controller (irrigation) , tracking (education) , convergence (economics) , trajectory , computer science , dynamics (music) , function (biology) , control engineering , engineering , control (management) , artificial intelligence , physics , temperature control , psychology , agronomy , pedagogy , astronomy , evolutionary biology , acoustics , economics , biology , economic growth , quantum mechanics
This paper proposed the chaotic safe experimentation dynamics algorithm (CSEDA) to regulate angular tracking and vibration of the self-tuning PID controller for elastic joint manipulators. CSEDA was a modified version of the safe experimentation dynamics algorithm (SEDA) that used a chaos function in the updated equation. The chaos function increased the exploration capability, thus improving the convergence accuracy. In this study, two self-tuning PID controllers were used to regulate the rotating angle tracking and vibration for elastic joint manipulators in this control challenge. The suggested self-tuning PID controller's performance was evaluated in angular motion trajectory tracking, vibration suppression, and the pre-determined control fitness function. A self-tuned PID controller based on CSEDA could achieve superior control accuracy than a traditional SEDA and its variants.