Title :
Close loop performance analysis of under-actuated two-link robot over networked control system
Author :
Hussain, Syed Asad ; Kadri, Muhammad Bilal ; Rab, Ayesha
Author_Institution :
Electron. & Power Eng. Dept., Nat. Univ. of Sci. & Technol. (NUST), Islamabad, Pakistan
Abstract :
This paper focuses on stability of under-actuated two-link robot implemented over network control Systems. The proposed control system stabilizes and balances the robot in erect position. This paper differentiates synchronous and asynchronous actuation. Smith predictor has been used to handle dead time and control closed loop over asynchronous actuation. The simulation results demonstrate the efficiency of the proposed scheme.
Keywords :
closed loop systems; flexible manipulators; predictive control; stability; Smith predictor; asynchronous actuation; close loop performance analysis; closed loop control; dead time; networked control system; robot erect position; robotic arm; under-actuated two-link robot stability; Actuators; Communication networks; Delays; Network topology; Robots; Topology; network control system; smith predictor; under-actuated system;
Conference_Titel :
Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014 International Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4799-5131-4
DOI :
10.1109/iCREATE.2014.6828354
