Modeling And Stability Analysis Of Linear Actuated Finger

This paper presents the modeling and validation of a Linear Actuated Finger (LAF) with unknown behavior. In nature, LAF consists of servo, linkage, gear, inertia, stiffness, as well as nonlinearity such as mechanical backlash. The dynamic model is obtained via System Identification (SI) approach. Th...

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التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: Abd Aziz, Ellyana Shaira, Kamarudin, Muhammad Nizam, Jali, Mohd Hafiz, Ghazali, Rozaimi
التنسيق: مقال
اللغة:English
منشور في: SERSC 2017
الموضوعات:
الوصول للمادة أونلاين:http://eprints.utem.edu.my/id/eprint/21176/2/20170101_IJCA_Ellyana.pdf
http://eprints.utem.edu.my/id/eprint/21176/
http://www.sersc.org/journals/IJCA/vol10_no1/5.pdf
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spelling my.utem.eprints.211762021-07-13T23:32:50Z http://eprints.utem.edu.my/id/eprint/21176/ Modeling And Stability Analysis Of Linear Actuated Finger Abd Aziz, Ellyana Shaira Kamarudin, Muhammad Nizam Jali, Mohd Hafiz Ghazali, Rozaimi T Technology (General) TK Electrical engineering. Electronics Nuclear engineering This paper presents the modeling and validation of a Linear Actuated Finger (LAF) with unknown behavior. In nature, LAF consists of servo, linkage, gear, inertia, stiffness, as well as nonlinearity such as mechanical backlash. The dynamic model is obtained via System Identification (SI) approach. The identification phase exploits the input-output data that represented by the voltage-angle relation of the LAF. By using Jury Stability criterion, the stability of the LAF can be shown without prior knowledge of pole-zero location in the s-plane. Then, simple discrete Proportional-Integral (PI) controller is formulated to validate the controllability as well as to observe the transient and steady-state behavior of the LAF model. SERSC 2017-01 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/21176/2/20170101_IJCA_Ellyana.pdf Abd Aziz, Ellyana Shaira and Kamarudin, Muhammad Nizam and Jali, Mohd Hafiz and Ghazali, Rozaimi (2017) Modeling And Stability Analysis Of Linear Actuated Finger. International Journal Of Control And Automation, 10 (1). pp. 49-62. ISSN 2005-4297 http://www.sersc.org/journals/IJCA/vol10_no1/5.pdf 10.14257/ijca.2017.10.1.05
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic T Technology (General)
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle T Technology (General)
TK Electrical engineering. Electronics Nuclear engineering
Abd Aziz, Ellyana Shaira
Kamarudin, Muhammad Nizam
Jali, Mohd Hafiz
Ghazali, Rozaimi
Modeling And Stability Analysis Of Linear Actuated Finger
description This paper presents the modeling and validation of a Linear Actuated Finger (LAF) with unknown behavior. In nature, LAF consists of servo, linkage, gear, inertia, stiffness, as well as nonlinearity such as mechanical backlash. The dynamic model is obtained via System Identification (SI) approach. The identification phase exploits the input-output data that represented by the voltage-angle relation of the LAF. By using Jury Stability criterion, the stability of the LAF can be shown without prior knowledge of pole-zero location in the s-plane. Then, simple discrete Proportional-Integral (PI) controller is formulated to validate the controllability as well as to observe the transient and steady-state behavior of the LAF model.
format Article
author Abd Aziz, Ellyana Shaira
Kamarudin, Muhammad Nizam
Jali, Mohd Hafiz
Ghazali, Rozaimi
author_facet Abd Aziz, Ellyana Shaira
Kamarudin, Muhammad Nizam
Jali, Mohd Hafiz
Ghazali, Rozaimi
author_sort Abd Aziz, Ellyana Shaira
title Modeling And Stability Analysis Of Linear Actuated Finger
title_short Modeling And Stability Analysis Of Linear Actuated Finger
title_full Modeling And Stability Analysis Of Linear Actuated Finger
title_fullStr Modeling And Stability Analysis Of Linear Actuated Finger
title_full_unstemmed Modeling And Stability Analysis Of Linear Actuated Finger
title_sort modeling and stability analysis of linear actuated finger
publisher SERSC
publishDate 2017
url http://eprints.utem.edu.my/id/eprint/21176/2/20170101_IJCA_Ellyana.pdf
http://eprints.utem.edu.my/id/eprint/21176/
http://www.sersc.org/journals/IJCA/vol10_no1/5.pdf
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score 13.250246