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

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 cont...

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Bibliographic Details
Published inAcademic Platform Journal of Engineering and Smart Systems Vol. 11; no. 1; pp. 27 - 34
Main Authors GÜMÜŞ, Mehmet Sefa, ÇAKAN, Abdullah, KALYONCU, Mete
Format Journal Article
LanguageEnglish
Published 30.01.2023
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Summary: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.
ISSN:2822-2385
2822-2385
DOI:10.21541/apjess.1084875