Application of Firefly Algorithm for Parameter Estimation of Damped Compound Pendulum

Abstract

This paper presents an investigation into the parameter estimation of the damped compound pendulum using Firefly algorithm method. In estimating the damped compound pendulum, the system necessarily needs a good model. Therefore, the aim of the work described in this paper is to obtain a dynamic model of the damped compound pendulum. By considering a discrete time form for the system, an autoregressive with exogenous input (ARX) model structures was selected. In order to collect input-output data from the experiment, the PRBS signal is used to be input signal to regulate the motor speed. Where, the output signal is taken from position sensor. Firefly algorithm (FA) algorithm is used to estimate the model parameters based on model 2nd orders. The model validation was done by comparing the measured output against the predicted output in terms of the closeness of both outputs via mean square error (MSE) value. The performance of FA is measured in terms of mean square error (MSE).