Close Loop Performance Analysis of Under-Actuated Two-Link Robot over Networked Control System

Syed Asad Hussain; Muhammad  Bilal Kadri; Ayesha Rab

doi:10.1109/iCREATE.2014.6828354

Close Loop Performance Analysis of Under-Actuated Two-Link Robot over Networked Control System

Syed Asad Hussain
, Muhammad Bilal Kadri
, Ayesha Rab

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

This paper focuses on stability of under-actuated two-link robot implemented over network control Systems. The proposed control system stabilizes and balances the robot in erect position. This paper differentiates synchronous and asynchronous actuation. Smith predictor has been used to handle dead time and control closed loop over asynchronous actuation. The simulation results demonstrate the efficiency of the proposed scheme.

Original language	English
Title of host publication	2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)
Subtitle of host publication	Proceedings
Publisher	IEEE
Pages	139-145
ISBN (Electronic)	978-1-4799-5132-1
ISBN (Print)	978-1-4799-5131-4
DOIs	https://doi.org/10.1109/iCREATE.2014.6828354
Publication status	Published - Apr 2014
Externally published	Yes
Event	2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE 2014) - Islamabad, Pakistan Duration: 22 Apr 2014 → 24 Apr 2014

Conference

Conference	2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE 2014)
Abbreviated title	iCREATE
Place	Pakistan
City	Islamabad
Period	22/04/14 → 24/04/14

Research Keywords

network control system
smith predictor
under-actuated system

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10.1109/iCREATE.2014.6828354

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@inproceedings{ce46b0c20512421eb321448a2a58c08b,

title = "Close Loop Performance Analysis of Under-Actuated Two-Link Robot over Networked Control System",

abstract = "This paper focuses on stability of under-actuated two-link robot implemented over network control Systems. The proposed control system stabilizes and balances the robot in erect position. This paper differentiates synchronous and asynchronous actuation. Smith predictor has been used to handle dead time and control closed loop over asynchronous actuation. The simulation results demonstrate the efficiency of the proposed scheme.",

keywords = "network control system, smith predictor, under-actuated system",

author = "Hussain, \{Syed Asad\} and \{Bilal Kadri\}, Muhammad and Ayesha Rab",

year = "2014",

month = apr,

doi = "10.1109/iCREATE.2014.6828354",

language = "English",

isbn = "978-1-4799-5131-4",

pages = "139--145",

booktitle = "2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)",

publisher = "IEEE",

address = "United States",

note = "2014 International Conference on Robotics and<br/>Emerging Allied Technologies in Engineering (iCREATE 2014), iCREATE ; Conference date: 22-04-2014 Through 24-04-2014",

}

Hussain, SA, Bilal Kadri, M & Rab, A 2014, Close Loop Performance Analysis of Under-Actuated Two-Link Robot over Networked Control System. in 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE): Proceedings. IEEE, pp. 139-145, 2014 International Conference on Robotics and
Emerging Allied Technologies in Engineering (iCREATE 2014), Islamabad, Pakistan, 22/04/14. https://doi.org/10.1109/iCREATE.2014.6828354

Close Loop Performance Analysis of Under-Actuated Two-Link Robot over Networked Control System. / Hussain, Syed Asad; Bilal Kadri, Muhammad ; Rab, Ayesha.
2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE): Proceedings. IEEE, 2014. p. 139-145.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Close Loop Performance Analysis of Under-Actuated Two-Link Robot over Networked Control System

AU - Hussain, Syed Asad

AU - Bilal Kadri, Muhammad

AU - Rab, Ayesha

PY - 2014/4

Y1 - 2014/4

N2 - This paper focuses on stability of under-actuated two-link robot implemented over network control Systems. The proposed control system stabilizes and balances the robot in erect position. This paper differentiates synchronous and asynchronous actuation. Smith predictor has been used to handle dead time and control closed loop over asynchronous actuation. The simulation results demonstrate the efficiency of the proposed scheme.

AB - This paper focuses on stability of under-actuated two-link robot implemented over network control Systems. The proposed control system stabilizes and balances the robot in erect position. This paper differentiates synchronous and asynchronous actuation. Smith predictor has been used to handle dead time and control closed loop over asynchronous actuation. The simulation results demonstrate the efficiency of the proposed scheme.

KW - network control system

KW - smith predictor

KW - under-actuated system

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DO - 10.1109/iCREATE.2014.6828354

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 978-1-4799-5131-4

SP - 139

EP - 145

BT - 2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)

PB - IEEE

T2 - 2014 International Conference on Robotics and<br/>Emerging Allied Technologies in Engineering (iCREATE 2014)

Y2 - 22 April 2014 through 24 April 2014

ER -

Close Loop Performance Analysis of Under-Actuated Two-Link Robot over Networked Control System

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Research Keywords

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