A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation

This paper presents a data-driven PID control scheme based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. Here, the conventional SPSA is modified by...

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Main Authors:	Nik Mohd Zaitul Akmal, Mustapha, Mohd Helmi, Suid, Raja Mohd Taufika, Raja Ismail, Ahmad Nor Kasruddin, Nasir, Mohd Ashraf, Ahmad, Mohd Zaidi, Mohd Tumari
Format:	Conference or Workshop Item
Language:	English English
Published:	2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/23227/ http://umpir.ump.edu.my/id/eprint/23227/1/119.%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf http://umpir.ump.edu.my/id/eprint/23227/2/119.1%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf

id	ump-23227
recordtype	eprints
spelling	ump-232272019-01-01T12:27:39Z http://umpir.ump.edu.my/id/eprint/23227/ A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation Nik Mohd Zaitul Akmal, Mustapha Mohd Helmi, Suid Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari TK Electrical engineering. Electronics Nuclear engineering This paper presents a data-driven PID control scheme based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. Here, the conventional SPSA is modified by introducing a normalized gradient approximation to update the design variable. To be more specific, each measurement of the objective function from the perturbations is normalized to the maximum objective function measurement at the current iteration. As a result, this improvement is expected to avoid the updated control parameter from producing an unstable control performance. The effectiveness of the normalized SPSA is tested to datadriven PID control scheme of flexible joint plant. The simulation results are presented in terms of the convergence responses and control performances. The outcome of this paper shows that the data-driven controller tuning using the normalized SPSA is able to provide stable and better control performances as compared to the existing modified SPSA 2018 Conference or Workshop Item NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/23227/1/119.%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf pdf en http://umpir.ump.edu.my/id/eprint/23227/2/119.1%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf Nik Mohd Zaitul Akmal, Mustapha and Mohd Helmi, Suid and Raja Mohd Taufika, Raja Ismail and Ahmad Nor Kasruddin, Nasir and Mohd Ashraf, Ahmad and Mohd Zaidi, Mohd Tumari (2018) A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation. In: 7th International Conference on Design and Concurrent Engineering 2018 (IDECON2018), 17 - 18 September 2018 , Kuching, Sarawak. pp. 1-5.. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Nik Mohd Zaitul Akmal, Mustapha Mohd Helmi, Suid Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
description	This paper presents a data-driven PID control scheme based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. Here, the conventional SPSA is modified by introducing a normalized gradient approximation to update the design variable. To be more specific, each measurement of the objective function from the perturbations is normalized to the maximum objective function measurement at the current iteration. As a result, this improvement is expected to avoid the updated control parameter from producing an unstable control performance. The effectiveness of the normalized SPSA is tested to datadriven PID control scheme of flexible joint plant. The simulation results are presented in terms of the convergence responses and control performances. The outcome of this paper shows that the data-driven controller tuning using the normalized SPSA is able to provide stable and better control performances as compared to the existing modified SPSA
format	Conference or Workshop Item
author	Nik Mohd Zaitul Akmal, Mustapha Mohd Helmi, Suid Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari
author_facet	Nik Mohd Zaitul Akmal, Mustapha Mohd Helmi, Suid Raja Mohd Taufika, Raja Ismail Ahmad Nor Kasruddin, Nasir Mohd Ashraf, Ahmad Mohd Zaidi, Mohd Tumari
author_sort	Nik Mohd Zaitul Akmal, Mustapha
title	A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
title_short	A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
title_full	A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
title_fullStr	A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
title_full_unstemmed	A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
title_sort	data-driven pid controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/23227/ http://umpir.ump.edu.my/id/eprint/23227/1/119.%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf http://umpir.ump.edu.my/id/eprint/23227/2/119.1%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf
first_indexed	2023-09-18T22:34:42Z
last_indexed	2023-09-18T22:34:42Z
_version_	1777416517368938496

A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation

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