WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 15, 2020
Modeling and Networked Control of Two-rigid link Robot Arm
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Abstract: A networked control system (NCS) is one in which controller(s), actuator(s),and sensor(s)exchange command signals and data through a limited-bandwidth communication network that may be used by other applications, devices, and control systems. Compared to classical wired controlled systems, NCSs possess many advantages. In this paper, we propose the modeling and networked control of two-rigid link robot arm. To deal with the time delays that may occur during communication between the components of the system through the network, a model of the system was first determined, and second, PID controllers were designed based on the obtained model and using the stability region boundary locus technique. To demonstrate the validity of the proposed approach, numerical simulations were conducted using TrueTime, Simscape, SimMechanics, and Simulink with the MATLAB environment.
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Keywords: Networked control system, Induced-network delay, two-rigid link robot arm, PID controller, TrueTime, Simscape, SimMechanics.
Pages: 375-382
DOI: 10.37394/23203.2020.15.39