DSpace@nitr >
National Institue of Technology- Rourkela >
Conference Papers >

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

Full metadata record

DC FieldValueLanguage
contributor.authorPradhan, Santanu Kumar-
contributor.authorSubudhi, B D-
identifier.citationproceedings of India Conference (INDICON), 2011 Annual IEEE, 2011 , Hyderabad, 16-18 Dec. 2011.en
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-
subjectNonlinear Adaptive Controlen
subjectRecursive Extended Least Squareen
subjectTwo-Link Flexible Roboten
subjectVariable Payloaden
titleNARMAX Modeling of a Two-Link Flexible Roboten
Appears in Collections:Conference Papers

Files in This Item:

File Description SizeFormat
2011_NARMAX Modeling of a Two-Link Flexible Robot.pdf413KbAdobe PDFView/Open

Show simple item record

All items in DSpace are protected by copyright, with all rights reserved.


Powered by DSpace Feedback