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Dergiler / Academic Platform Journal of Engineering and Smart Systems / 2023 / Cilt: 11 - Sayı: 1

Cascade Proportional Derivative Controller For A Flexible Link Robot Manipulator Using The Bees Algorithm

Mehmet Sefa GÜMÜŞ
Abdullah ÇAKAN
Mete KALYONCU
Sayfa
27–34
Yayın Tarihi
2023-01-30
DOI
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⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

It has been observed that the Cascade PD controller, whose gains are optimized by the bees algorithm, successfully controls the flexible robot arm system and reduces the vibration of the tip point.

📌 3 Maddede Bu Makale

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Amaç & Hipotez:In this study, a flexible robot arm model and the design of its controller are introduced.
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Temel Bulgular & Veri:The weighted function of system responses such as settling time, maximum overshoot, steady-state error is used as a performance criterion while searching for the best parameters.
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Sonuç & Katkı:It has been observed that the Cascade PD controller, whose gains are optimized by the bees algorithm, successfully controls the flexible robot arm system and reduces the vibration of the tip point.
🔬Tür:Modelleme & Sayısal Simülasyon
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:The Bees Algorithm · Flexible Link · Cascade PID

Abstract

In this study, a flexible robot arm model and the design of its controller are introduced. The robot arm consists of a single flexible link. It is desired to control the circular position of the robot arm and the vibration of the tip point. Cascade proportional derivative controller was used to control the position and reduce the tip vibration. Controller gains were found using the bees algorithm. The weighted function of system responses such as settling time, maximum overshoot, steady-state error is used as a performance criterion while searching for the best parameters. In addition, controller gains were obtained with the genetic algorithm to evaluate the working performance of the bees algorithm. It has been observed that the Cascade PD controller, whose gains are optimized by the bees algorithm, successfully controls the flexible robot arm system and reduces the vibration of the tip point.

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Bu Makaleye Atıf Yap

GÜMÜŞ, M. S., ÇAKAN, A., KALYONCU, M. (2023). Cascade Proportional Derivative Controller For A Flexible Link Robot Manipulator Using The Bees Algorithm. Academic Platform Journal of Engineering and Smart Systems, Cilt: 11 - Sayı: 1, 27–34. https://ajindex.com/articles/875906

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Kaynakça (12)

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