Publication:
Optimum control of a flexible single link manipulator with artificial bee colony algorithm

dc.contributor.authorEser, Sezgin
dc.contributor.buuauthorÇetin, Sevda Telli
dc.contributor.buuauthorTELLİ ÇETİN, SEVDA
dc.contributor.departmentBursa Uludağ Üniversitesi/Mühendislik Fakültesi/Makine Mühendisliği Bölümü.
dc.contributor.researcheridAAG-4708-2019
dc.date.accessioned2024-10-17T11:40:58Z
dc.date.available2024-10-17T11:40:58Z
dc.date.issued2021-12-22
dc.description.abstractThis paper presents a stable control for a single link flexible manipulator. The flexible manipulator is considered as Euler-Bernoulli beam, and its dynamic model is developed based on assumed mode method. Position and vibration control are realised with a single controller as motor torque. The controller has three parameters that must be selected. In this paper, the main motivation is to find the suitable parameter values to generate optimum torque values in every sampling time. In order to achieve this goal, Artificial Bee Colony Algorithm is performed, and the controller parameters are optimised simultaneously in every sampling period. Simulations verify that the manipulator achieves the position control objective, and the vibration is suppressed simultaneously even with different payloads with the proposed optimisation method.
dc.identifier.doi10.1177/09544062211045480
dc.identifier.endpage3742
dc.identifier.issn0954-4062
dc.identifier.issue7
dc.identifier.startpage3731
dc.identifier.urihttps://doi.org/10.1177/09544062211045480
dc.identifier.urihttps://hdl.handle.net/11452/46654
dc.identifier.volume236
dc.identifier.wos000737947400001
dc.indexed.wosWOS.SCI
dc.language.isoen
dc.publisherSage Publications Ltd
dc.relation.journalProceedings Of The Institution Of Mechanical Engineers Part C-journal Of Mechanical Engineering Science
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectActive vibration control
dc.subjectDynamic-analysis
dc.subjectBoundary control
dc.subjectSystem
dc.subjectObserver
dc.subjectFlexible manipulator
dc.subjectEuler-bernoulli beam
dc.subjectOptimisation
dc.subjectArtificial bee colony
dc.subjectVibration control
dc.subjectScience & technology
dc.subjectTechnology
dc.subjectEngineering, mechanical
dc.subjectEngineering
dc.titleOptimum control of a flexible single link manipulator with artificial bee colony algorithm
dc.typeArticle
dspace.entity.typePublication
relation.isAuthorOfPublicationc880dd62-efef-420e-969a-62bedcc174bb
relation.isAuthorOfPublication.latestForDiscoveryc880dd62-efef-420e-969a-62bedcc174bb

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