http://dspace.dtu.ac.in:8080/jspui/handle/123456789/57 2026-04-28T04:02:35Z 2026-04-28T04:02:35Z UJJWAL http://dspace.dtu.ac.in:8080/jspui/handle/repository/18935 2022-02-21T08:48:25Z 2021-07-01T00:00:00Z

Title: MULTILAYER NEUROADAPTIVE CONTROL OF TWO DOF ROBOT WITH DEADZONE Authors: UJJWAL Abstract: Robots generally su er from nonlinearities such as deadzone, backlash and deadband. The inherent coupling e ect between links of the robot along with nonlinearities puts consid erable challenge to control the position of end e ector. A two link manipulator is a basic robot in which most of the controllers are implemented to get a fair idea of the control performance. In this paper we use a adaptive neural network for controlling a two link rigid planar manipulator with deadzone at input. The deadzone at the input is not static but dy namic. To remove the e ect of deadzone, inverse deadzone is used which just adds an o set to the control input. The o set is greater than or equal to the deadzone width and hence there could be some extra input going to the actuator which is modeled as disturbance in the system. Performance of the Multilayer Neuroadaptive (MN) controller is compared with typical Single Layer Neuroadaptive controller, PID and classical Adaptive Controller in sim ulation. Error norms and other parameters are calculated for di erent control performance are given to compare quantitatively.

2021-07-01T00:00:00Z SINGH, VISHWA PRATAP http://dspace.dtu.ac.in:8080/jspui/handle/repository/17825 2020-03-02T11:28:36Z 2009-01-01T00:00:00Z

Title: INTELLIGENT CONTROL OF ROBOTIC SYSTEM Authors: SINGH, VISHWA PRATAP Abstract: The problem of manipulator control is highly complex problem of controlling a system which is multi-input, multi-output, and non-linear and time variant. A number of different approaches presently followed for the control of manipulator vary from PI, PID And Fuzzy Logic Controller to very complex, intelligent, self-learning control algorithms. This report presents a comparative study of simulated performance of some conventional controllers like the simple PI, PID controllers And Fuzzy Logic control,. IAE is used for comparison as performance index. The study concludes that the PID controller in general performs better then PI controllers. When the unmodeled term is added to the model, PID and PI control perform badly. Computed torque control also affected but they do well. A Fuzzy Logic controller combines the advantage of PI And PID to achieve the goal of robot control Arm, performs better in PI And PID controllers and also shows that Fuzzy Logic controller are better even when unmodeled terms are added to the model.

2009-01-01T00:00:00Z JAIN, ROBIN http://dspace.dtu.ac.in:8080/jspui/handle/repository/17824 2020-03-02T11:28:28Z 2015-07-01T00:00:00Z

Title: VOLTAGE DIFFERENCING CURRENT CONVEYOR AND ITS APPLICATIONS IN IMPLEMENTATION OF AMPLIFIERS AND FILTERS Authors: JAIN, ROBIN Abstract: Ever since the introduction of current conveyors as basic building block in analog signal processing, many other active building blocks have been introduced so far. This has become possible because of the developments in the semiconductor manufacturing technologies (both bipolar as well as CMOS). During the last two decades various modifications have been done in the architecture of the current conveyor and many derivatives of this block have appeared in the literature. Voltage differencing current conveyor (VDCC) combines the features of a current conveyor and an operational transconductance amplifier. Voltage differencing current conveyor can be used to perform the entire regular signal processing applications (summation, differencing, scalar multiplication, amplifiers and filters etc.). The present work deals with the signal processing applications of the voltage differencing current conveyor in amplifiers and filters. A novel multifunction filter with tunability properties similar to the Tow Thomas biquad filter has also been proposed. All the circuits presented in the dissertation have been simulated in PSPICE.

2015-07-01T00:00:00Z VERMA, PALLAVI http://dspace.dtu.ac.in:8080/jspui/handle/repository/17549 2020-02-28T05:40:47Z 2009-07-01T00:00:00Z

Title: TEMPREATURE SENSING BY USING GSM MODULE WITH THE HELP OF FPGA Authors: VERMA, PALLAVI Abstract: FPGAs (Filed programmable Gate Array) have become a competitive alternative for high performance DSP applications, previously dominated by general purpose DSP and ASIC (Application Specific Integrated Circuit) devices. In this design based on using FPGA for the hardware implementation of the controller circuit and GSM (Global System for Mobile) for remote monitoring. The controller circuit has been described using VHDL (VHSIC Hardware Description Language). The design has been simulated using ModelSim from Model Technology and implemented using Xilinx ISE software tools. FPGA Spartan2 starter kit from Digilent has been used for the hardware implementation of the controller circuit. The system offers low cost and user friendly way of 24hours real-time remote monitoring for temperature using SMS (Short Messaging Service) messages.

2009-07-01T00:00:00Z