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NARMA-L2 controller for 2-DoF underactuated planar manipulator

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2 Author(s)
Akbarimajd, A. ; ECE Group, Univ. of Mohaghegh Ardabili, Ardabil, Iran ; Kia, S.

NARMA-L2 controller is designed for a 2R planar underactuated robot. To this end, in system identification stage, after appropriate selection of system output, the network is trained in order to approximate dynamics of the manipulator. Then control law is determined to make the system output follow the reference input. Tracking test and disturbance tests are performed by doing Simulations in SimMechanics. The results show that the controller stabilizes the system.

Published in:

Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on

Date of Conference:

7-10 Dec. 2010