• About
  • Policies
  • What is openaccess
  • Library
  • Contact
Advanced search
      View Item 
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
      • View Item
      •   BUIR Home
      • Scholarly Publications
      • Faculty of Engineering
      • Department of Electrical and Electronics Engineering
      • View Item
      JavaScript is disabled for your browser. Some features of this site may not work without it.

      Tracking and regulation control of a 2-DOF robot arm with unbalance

      Thumbnail
      View / Download
      706.9 Kb
      Author
      Güler, Samet
      Özgüler, A. Bülent
      Date
      2012-08
      Source Title
      17th International Conference on Methods & Models in Automation & Robotics, MMAR 2012
      Publisher
      IEEE
      Pages
      280 - 285
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
      138
      views
      379
      downloads
      Abstract
      Servomechanism synthesis for a two degree-of-freedom robot arm assembled on a vessel and affected from sea disturbances is considered. Dynamic equations of the robot arm with unbalance and of an approximate base disturbance model are derived. Direct linear controller synthesis based on a linearized model is then studied. It is shown that, although the plant model is nonlinear, linear controller that is synthesized based on the "internal model principle" provide good performance and perform better than the commonly used PID controllers. © 2012 IEEE.
      Keywords
      Disturbance models
      Dynamic equations
      Internal model principle
      Linear controllers
      Linearized models
      PID controllers
      Plant model
      Regulation control
      Robot arms
      Two-degree-of-freedom
      Linear control systems
      Robotic arms
      Three term control systems
      Robotics
      Permalink
      http://hdl.handle.net/11693/28071
      Published Version (Please cite this version)
      http://dx.doi.org/10.1109/MMAR.2012.6347874
      Collections
      • Department of Electrical and Electronics Engineering 3524
      Show full item record

      Related items

      Showing items related by title, author, creator and subject.

      • Thumbnail

        Reliable decentralised control of delayed MIMO plants 

        Gündeş, A. N.; Özbay, Hitay (Taylor & Francis, 2010-03)
        Reliable decentralised proportional-integral-derivative controller synthesis methods are presented for closed-loop stabilisation of linear time-invariant plants with two multi-input, multi-output (MIMO) channels subject ...
      • Thumbnail

        Economic design of EWMA control charts based on loss function 

        Serel, D. A. (Elsevier, 2009)
        For monitoring the stability of a process, various control charts based on exponentially weighted moving average (EWMA) statistics have been proposed in the literature. We study the economic design of EWMA-based mean and ...
      • Thumbnail

        Concurrent design of energy management and vehicle traction supervisory control algorithms for parallel hybrid electric vehicles 

        Dokuyucu, H. I.; Cakmakci, M. (Institute of Electrical and Electronics Engineers Inc., 2016)
        In this paper, concurrent design of energy management (EM) and traction control algorithms for a vehicle equipped with a parallel hybrid powertrain is studied. This paper focuses on designing the two control algorithms ...

      Browse

      All of BUIRCommunities & CollectionsTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartmentsThis CollectionTitlesAuthorsAdvisorsBy Issue DateKeywordsTypeDepartments

      My Account

      Login

      Statistics

      View Usage StatisticsView Google Analytics Statistics

      Bilkent University

      If you have trouble accessing this page and need to request an alternate format, contact the site administrator. Phone: (312) 290 1771
      Copyright © Bilkent University - Library IT

      Contact Us | Send Feedback | Off-Campus Access | Admin | Privacy