DOI : https://doi.org/10.18517/ijaseit.2.1.144

NN robust based-PID Control of A Two-Link Flexible Robot Manipulator

Moh. Khairudin (1), . Sudiyatno (2), Fatkhul Arifin (3)
(1) Engineering Faculty, Universitas Negeri Yogyakarta
(2) Engineering Faculty, Universitas Negeri Yogyakarta
(3) Engineering Faculty, Universitas Negeri Yogyakarta
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How to cite (IJASEIT) :
Khairudin, Moh., et al. “NN Robust Based-PID Control of A Two-Link Flexible Robot Manipulator”. International Journal on Advanced Science, Engineering and Information Technology, vol. 2, no. 1, Feb. 2012, pp. 7-12, doi:10.18517/ijaseit.2.1.144.
Citation Format :
This paper presents control of a two-link flexible robot manipulator. A planar two-link flexible manipulator that moves in the horizontal plane is considered. A dynamic model of the system is developed using an assumed mode methods. The NN robust based-PID controller is used to reduce a nonlinearities problem that can be efficiently solved. The system responses namely hub angular position, deflection and end-point acceleration responses at both links are obtained and analysed.

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