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
Artikel Terkait :
Jp Teknik Komputer dd 2010
- APLIKASI NEURAL NETWORK PADA SYSTEM CONTROL TURBIN MIKRO HIDRO
- PENEMUAN RUTE TERPENDEK PADA APLIKASI BERBASIS PETA
- RANCANG BANGUN APLIKASI SMART CARD INTERFACE
- RANCANG BANGUN SISTEM INFORMASI GEOGRAFIS PENGUASAAN PEMILIKAN PENGGUNAAN DAN PEMANFAATAN TANAH (P4T) KABUPATEN JEMBRANA BERBASIS WEB
- Cognitive Radio: Sistim Radio Cerdas
- Pengaruh Perilaku Konsumen Mobile Internet Terhadap Keputusan Pembelian Paket Layanan Data Unlimited Internet CDMA di DKI Jakarta
- Penggelaran Teknologi HSPA+ di Indonesia
- Perencanaan Strategi Penerapan Teknologi DVB-T di LPP TVRI
- Menentukan Optimasi Routing dengan Pengaturan Route Advertisement pada Jaringan Mobile IPV6
- Steady-State Stability Assessment Using Neural Network Based on Network Equivalent
- An Adaptive Modulation in Millimeter-Wave Communication System for Tropical Region
- High Performance Palmprint Identification System Based On Two Dimensional Gabor
- Chaos on Phase Noise of Van Der Pol Oscillator
- A Video Streaming Application Using Mobile Media Application Programming Interface
- Distributed Monitoring and Controlling Using Microcontroller and Virtual Internet Protocol
- A Novel Dynamic Overmodulation Strategy of Direct Torque Control
- A Simple Instrumentation System for Large Structure Vibration Monitoring
- An Automatic Identification System of Human Skin Irritation
- Lag-Lead Compensator for Shape Memory Alloy in Gripping Manipulation
- Harmonic Mitigation Using a Polarized Ramp-time Current-Controlled Inverter
- Hybrid Methods in Designing Sierpinski Gasket Antennas
- Satellite Imagery and In-situ Data Overlay Approach for Fishery Zonation
- Fast Geometric T2-Fuzzy Based Improved Lower Extremities Stimulation Response
- Cost and Benefit of Information Search using Two Different Strategies
- TURTLE HEARING CAPABILITY BASED ON ABR SIGNAL ASSESMENT