Title :
Control of a manipulator using shuffled complex evolution
Author :
Hassanzadeh, Iraj ; Amiri, Mohsen ; Kashtiban, Atabak M.
Author_Institution :
Control Eng. Dept., Univ. of Tabriz, Tabriz, Iran
Abstract :
Many Proportional-Integral-Derivative (PID) controller design methods on nonlinear systems are reported in recent years due to its simple structure and powerful performance. This paper presents Shuffled Complex Evolution (SCE) method for PID design process that yields more optimum parameters. By adding saturation constraint to the system, our model is more precise than other reported researches. Also we have improved the cost function formulation of the optimization problem. The PID controller has been applied on a 5-bar-linkage manipulator.
Keywords :
manipulators; nonlinear control systems; optimal control; optimisation; three-term control; 5-bar-linkage manipulator; PID controller design; cost function formulation; optimization problem; proportional-integral-derivative control; saturation constraint; shuffled complex evolution method; Control systems; Cost function; Design methodology; Nonlinear control systems; Nonlinear systems; Pi control; Power system modeling; Process design; Proportional control; Three-term control;
Conference_Titel :
Electrical and Electronics Engineering, 2009. ELECO 2009. International Conference on
Conference_Location :
Bursa
Print_ISBN :
978-1-4244-5106-7
Electronic_ISBN :
978-9944-89-818-8
