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 http://hdl.handle.net/2080/477 |
Appears in Collections: | Journal Articles |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Robotica_BDS_2006.pdf | 1.43 MB | Adobe PDF | View/Open |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.