Modeling and Networked Control of Two-rigid link Robot Arm

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 poss...

Full description

Saved in:
Bibliographic Details
Published in:WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 2020-09, Vol.15, p.375-382
Main Author: Mohamed Vall, Ould Mohamed
Format: Article
Language:English
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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
ISSN:1991-8763
DOI:10.37394/23203.2020.15.39