Intelligent modelling and active vibration control of flexible manipulator

The purpose of this study is to investigate the application of Least Square(LS), Recursive Least Square (RLS), and Neural Network to estimate the identification of flexible beam structure and development a (Proportional-Integral-Derivative) PID controller for the system. The input and output data us...

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Main Author:	Gol Zardian, Mohsen
Format:	Thesis
Language:	English
Published:	2014
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/50744/25/MohsenGolZardianMFKM2014.pdf
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id	my-utm-ep.50744
record_format	uketd_dc
spelling	my-utm-ep.507442020-07-12T01:30:05Z Intelligent modelling and active vibration control of flexible manipulator 2014-06 Gol Zardian, Mohsen TJ Mechanical engineering and machinery The purpose of this study is to investigate the application of Least Square(LS), Recursive Least Square (RLS), and Neural Network to estimate the identification of flexible beam structure and development a (Proportional-Integral-Derivative) PID controller for the system. The input and output data used for system identification process were obtained from experimental setup. The performance of system identification used, Lest Squares (LS), Recursive Least Squares (RLS), and Neural Network (NN) were verified using Mean Square Error (MSE) technique.Comparative assessment was conducted to compare all the result obtained and the best transfer function was obtained from RLS system identification approach with smallest MSE value of 8.182×10-08. The transfer function has been used to help the development of control system to suppress unwanted vibration of the flexible manipulator system. In this study, a PID controller has been proposed to use for the vibration suppression. This controller was tuned by using heuristic tuning in Matlab SIMULINK simulation environment. 2014-06 Thesis http://eprints.utm.my/id/eprint/50744/ http://eprints.utm.my/id/eprint/50744/25/MohsenGolZardianMFKM2014.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:90549 masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Gol Zardian, Mohsen Intelligent modelling and active vibration control of flexible manipulator
description	The purpose of this study is to investigate the application of Least Square(LS), Recursive Least Square (RLS), and Neural Network to estimate the identification of flexible beam structure and development a (Proportional-Integral-Derivative) PID controller for the system. The input and output data used for system identification process were obtained from experimental setup. The performance of system identification used, Lest Squares (LS), Recursive Least Squares (RLS), and Neural Network (NN) were verified using Mean Square Error (MSE) technique.Comparative assessment was conducted to compare all the result obtained and the best transfer function was obtained from RLS system identification approach with smallest MSE value of 8.182×10-08. The transfer function has been used to help the development of control system to suppress unwanted vibration of the flexible manipulator system. In this study, a PID controller has been proposed to use for the vibration suppression. This controller was tuned by using heuristic tuning in Matlab SIMULINK simulation environment.
format	Thesis
qualification_level	Master's degree
author	Gol Zardian, Mohsen
author_facet	Gol Zardian, Mohsen
author_sort	Gol Zardian, Mohsen
title	Intelligent modelling and active vibration control of flexible manipulator
title_short	Intelligent modelling and active vibration control of flexible manipulator
title_full	Intelligent modelling and active vibration control of flexible manipulator
title_fullStr	Intelligent modelling and active vibration control of flexible manipulator
title_full_unstemmed	Intelligent modelling and active vibration control of flexible manipulator
title_sort	intelligent modelling and active vibration control of flexible manipulator
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2014
url	http://eprints.utm.my/id/eprint/50744/25/MohsenGolZardianMFKM2014.pdf
_version_	1747817525875310592

Intelligent modelling and active vibration control of flexible manipulator

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