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Title: On Design of a H∞ Controller for a Flexible Link Robotic Manipulator
Authors: Subudhi, B
Morris, A S
Keywords: Flexible Link
Singular Perturbation
H∞ Controller
Issue Date: 2003
Publisher: Indian Institute of Technology, Kharagpur
Citation: Proceedings of National Systems Conference, Indian Institute of Technonology, Kharagpur, P 179-184
Abstract: The 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.
Description: Copyright for this article belongs to IIT Khargpur
Appears in Collections:Conference Papers

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