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dc.contributor.authorSubudhi, B-
dc.contributor.authorMorris, A S-
dc.identifier.citationProceedings of National Systems Conference, Indian Institute of Technonology, Kharagpur, P 179-184en
dc.descriptionCopyright for this article belongs to IIT Khargpuren
dc.description.abstractThe paper presents a novel composite control scheme that is a superposition of a non-linear neural network controller (based on the slow dynamics) and a linear controller (based on the fast dynamics) for a manipulator with flexible links and joints. The controller is robust in the face of uncertainties existing in both the slow and the fast dynamics which may be due to the inexactness in achieving the two-time-scale separation of the two subsystems (slow and fast) and unmodelled dynamics in the fast subsystem owing to model truncation. The performance of the proposed controller has been examined by numerical simulations.en
dc.format.extent656886 bytes-
dc.publisherIndian Institute of Technology, Kharagpuren
dc.subjectFlexible Linken
dc.subjectSingular Perturbationen
dc.subjectH∞ Controlleren
dc.titleOn Design of a H∞ Controller for a Flexible Link Robotic Manipulatoren
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