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

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.