Singular perturbation based neuro-H∞ control scheme for a manipulator with flexible links and joints

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

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DC Field	Value	Language
dc.contributor.author	Subudhi, B	-
dc.contributor.author	Morris, A S	-
dc.date.accessioned	2007-09-14T04:56:31Z	-
dc.date.available	2007-09-14T04:56:31Z	-
dc.date.issued	2006	-
dc.identifier.citation	Robotica, Vol 24, pp 151–161	en
dc.identifier.uri	http://dx.doi.org/doi:10.1017/S0263574705001852	-
dc.identifier.uri	http://hdl.handle.net/2080/477	-
dc.description	Copyright for the article belongs to the Cambridge University Press.	en
dc.description.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.	en
dc.format.extent	342303 bytes	-
dc.format.mimetype	application/pdf	-
dc.language.iso	en	-
dc.publisher	Cambridge University Press	en
dc.subject	Neuro-H∞ control	en
dc.subject	Singular perturbation	en
dc.subject	Flexible links	en
dc.title	Singular perturbation based neuro-H∞ control scheme for a manipulator with flexible links and joints	en
dc.type	Article	en
Appears in Collections:	Journal Articles

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