DocumentCode
150398
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
fYear
2014
fDate
22-24 April 2014
Firstpage
139
Lastpage
145
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014 International Conference on
Conference_Location
Islamabad
Print_ISBN
978-1-4799-5131-4
Type
conf
DOI
10.1109/iCREATE.2014.6828354
Filename
6828354
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