Real time implementation of NARMA-L2 control of a Single Link Manipulator
Nonlinearities and parametric uncertainties are unavoidable problems faced in controlling robot manipulator. A single link manipulator driven by a permanent magnet brushed dc motor is a nonlinear dynamics due to effects of gravitational force, mass of the payload, posture of the manipulator and visc...
| मुख्य लेखकों: | , , , |
|---|---|
| स्वरूप: | लेख |
| भाषा: | English |
| प्रकाशित: |
Science Publications
2008
|
| विषय: | |
| ऑनलाइन पहुंच: | http://irep.iium.edu.my/6584/1/10.1.1.152.9339.pdf |
| _version_ | 1825644803579183104 |
|---|---|
| author | Mokri, S Husain, H. Martono, Wahyudi Shafie, Amir Akramin |
| author_facet | Mokri, S Husain, H. Martono, Wahyudi Shafie, Amir Akramin |
| author_sort | Mokri, S |
| collection | IIUM |
| description | Nonlinearities and parametric uncertainties are unavoidable problems faced in controlling robot manipulator. A single link manipulator driven by a permanent magnet brushed dc motor is a nonlinear dynamics due to effects of gravitational force, mass of the payload, posture of the manipulator and viscous friction coefficient. Furthermore, uncertainties arise because of changes of the rotor resistance with temperature and random variation of friction while operating. Due to this fact, classical PID controller can not be used effectively since it is developed based on linear system theory. In order to overcome this problem, in this research, a neural network control scheme, NARMA-L2 Control is adopted and implemented in real time for controlling a DC motor driven single link manipulator with unknown dynamics. However, the real time experimentation showed that the proposed system results in chattering of the control signal. Hence, the system also chatters within the desired trajectory. As a solution, real time Smoothed NARMA-L2 Control scheme is implemented. Physical results showed that the improved control scheme has not only reduced the chattering but has successfully controlled the single link manipulator for both point-to-point and continuous path motion control. |
| first_indexed | 2024-03-05T22:38:12Z |
| format | Article |
| id | oai:generic.eprints.org:6584 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-05T22:38:12Z |
| publishDate | 2008 |
| publisher | Science Publications |
| record_format | dspace |
| spelling | oai:generic.eprints.org:65842017-06-22T07:49:56Z http://irep.iium.edu.my/6584/ Real time implementation of NARMA-L2 control of a Single Link Manipulator Mokri, S Husain, H. Martono, Wahyudi Shafie, Amir Akramin TA168 Systems engineering Nonlinearities and parametric uncertainties are unavoidable problems faced in controlling robot manipulator. A single link manipulator driven by a permanent magnet brushed dc motor is a nonlinear dynamics due to effects of gravitational force, mass of the payload, posture of the manipulator and viscous friction coefficient. Furthermore, uncertainties arise because of changes of the rotor resistance with temperature and random variation of friction while operating. Due to this fact, classical PID controller can not be used effectively since it is developed based on linear system theory. In order to overcome this problem, in this research, a neural network control scheme, NARMA-L2 Control is adopted and implemented in real time for controlling a DC motor driven single link manipulator with unknown dynamics. However, the real time experimentation showed that the proposed system results in chattering of the control signal. Hence, the system also chatters within the desired trajectory. As a solution, real time Smoothed NARMA-L2 Control scheme is implemented. Physical results showed that the improved control scheme has not only reduced the chattering but has successfully controlled the single link manipulator for both point-to-point and continuous path motion control. Science Publications 2008 Article PeerReviewed application/pdf en http://irep.iium.edu.my/6584/1/10.1.1.152.9339.pdf Mokri, S and Husain, H. and Martono, Wahyudi and Shafie, Amir Akramin (2008) Real time implementation of NARMA-L2 control of a Single Link Manipulator. American Journal of Applied Sciences , 5 (12). pp. 1642-1649. ISSN 1546-9239 http://thescipub.com/abstract/10.3844/ajassp.2008.1642.1649 10.3844/ajassp.2008.1642.1649 |
| spellingShingle | TA168 Systems engineering Mokri, S Husain, H. Martono, Wahyudi Shafie, Amir Akramin Real time implementation of NARMA-L2 control of a Single Link Manipulator |
| title | Real time implementation of NARMA-L2 control of a Single Link Manipulator |
| title_full | Real time implementation of NARMA-L2 control of a Single Link Manipulator |
| title_fullStr | Real time implementation of NARMA-L2 control of a Single Link Manipulator |
| title_full_unstemmed | Real time implementation of NARMA-L2 control of a Single Link Manipulator |
| title_short | Real time implementation of NARMA-L2 control of a Single Link Manipulator |
| title_sort | real time implementation of narma l2 control of a single link manipulator |
| topic | TA168 Systems engineering |
| url | http://irep.iium.edu.my/6584/1/10.1.1.152.9339.pdf |
| work_keys_str_mv | AT mokris realtimeimplementationofnarmal2controlofasinglelinkmanipulator AT husainh realtimeimplementationofnarmal2controlofasinglelinkmanipulator AT martonowahyudi realtimeimplementationofnarmal2controlofasinglelinkmanipulator AT shafieamirakramin realtimeimplementationofnarmal2controlofasinglelinkmanipulator |