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...

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Main Authors:	Mokri, S, Husain, H., Martono, Wahyudi, Shafie, Amir Akramin
Format:	Article
Language:	English
Published:	Science Publications 2008
Subjects:	TA168 Systems engineering
Online Access:	http://irep.iium.edu.my/6584/ http://irep.iium.edu.my/6584/ http://irep.iium.edu.my/6584/ http://irep.iium.edu.my/6584/1/10.1.1.152.9339.pdf

id	iium-6584
recordtype	eprints
spelling	iium-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
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TA168 Systems engineering
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
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.
format	Article
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
title	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_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_sort	real time implementation of narma-l2 control of a single link manipulator
publisher	Science Publications
publishDate	2008
url	http://irep.iium.edu.my/6584/ http://irep.iium.edu.my/6584/ http://irep.iium.edu.my/6584/ http://irep.iium.edu.my/6584/1/10.1.1.152.9339.pdf
first_indexed	2023-09-18T20:15:37Z
last_indexed	2023-09-18T20:15:37Z
_version_	1777407767527555072

Real time implementation of NARMA-L2 control of a Single Link Manipulator

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