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

Title: NARMAX Modeling of a Two-Link Flexible Robot
Authors: Pradhan, Santanu Kumar
Subudhi, B D
Keywords: NARMAX
Nonlinear Adaptive Control
Recursive Extended Least Square
Two-Link Flexible Robot
Variable Payload
Issue Date: Dec-2011
Citation: proceedings of India Conference (INDICON), 2011 Annual IEEE, 2011 , Hyderabad, 16-18 Dec. 2011.
Abstract: Modeling 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.
Description: Copyright belongs to proceeding publisher
URI: http://hdl.handle.net/2080/1724
Appears in Collections:Conference Papers

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