RBFNN CONTROL OF A TWO-LINK FLEXIBLE MANIPULATOR INCORPORATING PAYLOAD
Abstract: This paper presents
the dynamic modeling and control of a two-link flexible robot manipulator. A
dynamic model of the system is developed using a combined Euler-Lagrange and
assumed mode methods. The most problems of a two-link flexible manipulator are
vibration of flexible link and unpredictable payload additional. Previous
researchers have discussed control methods for this system; few presented the
effect of a payload profile. The simulation in this research is performed to
assess the dynamic model and system responses at the hub and end-point of both
links are presented and analyzed in time domains and show the advantages using
radial basis function neural network (RBFNN) controller for solving flexible
link vibration, achieve high-precision position tracking, and payload effect
robustness. The results achieved by the proposed controller are compared with
conventional PID to substantiate and verify the advantages the proposed scheme
and its promising potential in control of a two-link flexible manipulator. It
is shown that smaller overshoot, quickly steady state response and tracking
performance of the proposed controller is good profile and better than PID
controllers.
Penulis: M. Khairudin
Kode Jurnal: jptkomputerdd100039
