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Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/477

Title: Singular perturbation based neuro-H∞ control scheme for a manipulator with flexible links and joints
Authors: Subudhi, B
Morris, A S
Keywords: Neuro-H∞ control
Singular perturbation
Flexible links
Issue Date: 2006
Publisher: Cambridge University Press
Citation: Robotica, Vol 24, pp 151–161
Abstract: A novel composite control scheme for a manipulator with flexible links and joints is presented that uses the singular perturbation technique (SPT) to divide the manipulator dynamics into reduced order slow and fast subsystems.A neural network controller is then applied for the slow subsystem and a state-feedback H∞ controller for the fast subsystem. Results are presented that demonstrate improved performance over an alternative SPT-based controller that uses inverse dynamics and LQR controllers.
Description: Copyright for the article belongs to the Cambridge University Press.
URI: http://dx.doi.org/doi:10.1017/S0263574705001852
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