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International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)

ASME Press Select Proceedings

International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)

Editor

ISBN:

9780791860045

No. of Pages:

938

DOI:

https://doi.org/10.1115/1.860045

Publisher:

ASME Press

Publication date:

2012

eBook Chapter

96 PSO Based Flat Control of a Single Link Flexible Manipulator

By

Elisha D. Markus

Elisha D. Markus

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,

John T. Agee

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,

Adisa A. Jimoh

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,

Ngatho Tlale

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,

Ejike C. Anene

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,

Zafer Bingul

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Doi:

https://doi.org/10.1115/1.860045_ch96

Page Count:

8

Published:

2012

This paper presents an intelligent method of tuning a flat controller for trajectory tracking of a single link flexible manipulator. The tip position of the manipulator was determined as the flat output. Using the flat output, a feedback control law is designed to stabilize the tip of the end effector and track the reference trajectories. The gains obtained for the flat controller is optimized using particle swarm optimization. Results show fast response to system trajectories, good tracking performance with no overshoots.

1. Introduction

2. Plant Model Description

3. Feedback Controller Design

4. Particle Swarm Optimization Tuning of Controller

5. Simulation Results

6. Conclusion

References

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