Narma-L2 controller for single link manipulator

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dc.authorid0000-0002-9169-6466en_US
dc.authorid0000-0001-8142-1146en_US
dc.contributor.authorÇelikel, Reşat
dc.contributor.authorAydoğmuş, Ömür
dc.date.accessioned2019-06-27T07:13:13Z
dc.date.available2019-06-27T07:13:13Z
dc.date.issued2018-09-30en_US
dc.departmentBatman Üniversitesi Mühendislik - Mimarlık Fakültesi Elektrik-Elektronik Mühendisliği Bölümüen_US
dc.description.abstractAll robotic systems require operating with minimum position error. The single link manipulator used in robotic applications is a nonlinear system for control algorithms. In this study, a single link manipulator system consists of dc motor, reducer gearbox and robot arm is controlled by using a modern control method known as NARMA-L2 controller. The system is analyzed via MATLAB / Simulink environment for various reference position angles. The load torque of the manipulator is taken into consideration by reducing to the motor side due to the gear ratio conversion ratio. The results show that the reference position angle is tracked by having a low error. In this work, satisfactory results are obtained by using NARMA-L2 controller for a single link manipulator.en_US
dc.identifier.citationÇelikel, R., Aydoğmuş, Ç. (2018). Narma-L2 controller for single link manipulator. 2018 International Conference on Artificial Intelligence and Data Processing (IDAP), 28-30 Sept. 2018, Malatya, Turkey. https://doi.org/10.1109/idap.2018.8620842en_US
dc.identifier.isbn9781538668788
dc.identifier.isbn9781538668795
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://doi.org/10.1109/idap.2018.8620842
dc.identifier.urihttps://hdl.handle.net/20.500.12402/2144
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.isversionof10.1109/idap.2018.8620842en_US
dc.relation.journal2018 International Conference on Artificial Intelligence and Data Processing (IDAP)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectDC Motoren_US
dc.subjectNARMA-L2 Controlleren_US
dc.subjectNeural Networksen_US
dc.subjectRobot Armen_US
dc.titleNarma-L2 controller for single link manipulatoren_US
dc.typeConference Objecten_US

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