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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| Format: | Article |
| Language: | en |
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2017
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| Online Access: | 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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| 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 |
| building | UTEM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknikal Malaysia Melaka |
| content_source | UTEM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 |
| id | my.utem.eprints-21176 |
| institution | Universiti Teknikal Malaysia Melaka |
| language | en |
| publishDate | 2017 |
| publisher | SERSC |
| record_format | eprints |
| 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 |
| 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 |
| title | 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_short | Modeling And Stability Analysis Of Linear Actuated Finger |
| title_sort | modeling and stability analysis of linear actuated finger |
| topic | T Technology (General) TK Electrical engineering. Electronics Nuclear engineering |
| 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 |
| url_provider | http://eprints.utem.edu.my/ |