Universiti Teknologi Malaysia Institutional Repository

Evolutionary algorithm for identification of a flexible single-link manipulator system

Al-khafaji, Ali A. M. and Shaharuddin, Nik Mohd. Ridzuan and Mat Darus, Intan Zaurah (2015) Evolutionary algorithm for identification of a flexible single-link manipulator system. WSEAS Transactions on Systems and Control, 10 . pp. 58-75. ISSN 1991-8763

Full text not available from this repository.

Abstract

This study presents an investigation into dynamic modelling of a flexible single-link manipulator system using differential evolutionary technique (DE) and particle swarm optimization technique (PSO). Details of simulation study, Model Selection, optimization and result analysis are given in this study. The input-output data of the system were first acquired through the simulation study using finite element method (FDM) based on Lagrangian approach. A bang-bang torque was applied as an input and the dynamic responses of the system were investigated. Next, an appropriate model structure was chosen and optimized using DE and PSO. One Step Ahead (OSA) prediction, correlation tests and mean squared error (MSE) have been performed for validation and verification of the obtained model in characterizing the manipulator system. Furthermore, an unseen data was used to observe the prediction ability of the model. A comparative assessment of the two models in characterizing the manipulator system is presented in time and frequency domains. Results demonstrate the advantages of DE over PSO in parametric modeling of the flexible manipulator system used in this study.

Item Type:Article
Uncontrolled Keywords:dynamic modelling, finite element method, flexible single-link manipulator
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:55133
Deposited By: Fazli Masari
Deposited On:11 Aug 2016 09:26
Last Modified:15 Feb 2017 07:39

Repository Staff Only: item control page