Development Of PID-Type Fuzzy Logic Controller With Adaptive Invasive Weed Algorithm To Control Of Flexible Arm System

Leong, Adrian Wai Chen (2019) Development Of PID-Type Fuzzy Logic Controller With Adaptive Invasive Weed Algorithm To Control Of Flexible Arm System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Development Of PID-Type Fuzzy Logic Controller With Adaptive Invasive Weed Algorithm To Control Of Flexible Arm System.pdf - Submitted Version Download (591kB)

Abstract

Flexible robot arm is widely used in the industry nowadays. This is because it is able to handle tasks that are difficult, dangerous or repetitive and variety manufacturing work. Therefore, the flexible robot arm is required to be highly accurate and repeatable in controlling to work like a human’s hand. This project attempts to improve accuracy and repeatability using a PID-type fuzzy logic controller (PID-FLC) and optimize by an invasive weed optimization (IWO) algorithm for a flexible robot arm. The algorithm will be validated with the design of fuzzy logic controller for a single-link flexible arm system. To simulate such system, a PID-type fuzzy logic controller will be designed in the Simulink. The proportional-integral- derivative (PID) acts as scaling gain for the fuzzy logic controller in order to normalize inputs and output and to damp oscilations of the system. Next, the IWO algorithm will be optimised the performance of PID-type fuzzy logic controller by discovering the best value of membership function for fuzzy logic controller. Last but not least, the result of PID-FLC with IWO will be evaluated and validated by inserting different value of iterations for IWO. The performance of PID-FLC is evaluated by comparing and analysing with Ziegler-Nichols tuned PID controller, PD-FLC with IWO and PID-FLC without IWO in term of rise time, overshoot and undershoot, settling time and steady state error. As a result, the most suitable iterations to get the ideal result of PID-FLC with IWO is analysed and obtained. 30 number of iterations able to generate the optimum performance of PID-FLC with less time-consuming and low cost function. Other than that, PID-FLC with IWO has better settling time and overshoot and undershoot compared to Ziegler-Nichols tuned PID controller. PID-FLC shows better performance by improving 11% of lower overshoot at first signal, 27.9% of smaller undershoot at second signal and 0.8% lower overshoot at third signal compared to PD-FLC with IWO. PID-FLC also achieved better overall performance than PID-FLC without IWO in term of rise time, settling time, overshoot and undershoot and steady-state error. However, there are some future works to be done which are comparing the performance of IWO with other biological-based algorithm and apply this optimized control system to the real model of robot arm.

Actions (login required)

View Item