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Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/1724

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contributor.authorPradhan, Santanu Kumar-
contributor.authorSubudhi, B D-
date.accessioned2012-07-05T12:19:39Z-
date.available2012-07-05T12:19:39Z-
date.issued2011-12-
identifier.citationproceedings of India Conference (INDICON), 2011 Annual IEEE, 2011 , Hyderabad, 16-18 Dec. 2011.en
identifier.urihttp://hdl.handle.net/2080/1724-
descriptionCopyright belongs to proceeding publisheren
description.abstractModeling of a two-link flexible robot as a nonlinear autoregressive, moving average with exogenous input (NARMAX) model is considered in this paper. The advantage of using NARMAX model over functional series representation for complex nonlinear systems is well established due to less number of parameters involved in the former. Next, the realtime identification for the NARMAX model parameters is acquired by using the recursive extended least square (RELS) algorithm. Model validation for a two-link flexible robot in real time is established by operating the robot under variable payload conditions. The experimental results show that the proposed NARMAX method provides better identification of the TLFR dynamics compared to ARMAX model.en
format.extent423205 bytes-
format.mimetypeapplication/pdf-
language.isoen-
subjectNARMAXen
subjectNonlinear Adaptive Controlen
subjectRecursive Extended Least Squareen
subjectTwo-Link Flexible Roboten
subjectVariable Payloaden
titleNARMAX Modeling of a Two-Link Flexible Roboten
typeArticleen
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