On Design of a H∞ Controller for a Flexible Link Robotic Manipulator

Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/520

Full metadata record

DC Field	Value	Language
dc.contributor.author	Subudhi, B	-
dc.contributor.author	Morris, A S	-
dc.date.accessioned	2007-10-04T10:50:48Z	-
dc.date.available	2007-10-04T10:50:48Z	-
dc.date.issued	2003	-
dc.identifier.citation	Proceedings of National Systems Conference, Indian Institute of Technonology, Kharagpur, P 179-184	en
dc.identifier.uri	http://hdl.handle.net/2080/520	-
dc.description	Copyright for this article belongs to IIT Khargpur	en
dc.description.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.	en
dc.format.extent	656886 bytes	-
dc.format.mimetype	application/pdf	-
dc.language.iso	en	-
dc.publisher	Indian Institute of Technology, Kharagpur	en
dc.subject	Flexible Link	en
dc.subject	Singular Perturbation	en
dc.subject	H∞ Controller	en
dc.title	On Design of a H∞ Controller for a Flexible Link Robotic Manipulator	en
dc.type	Article	en
Appears in Collections:	Conference Papers

Files in This Item:

File	Description	Size	Format
nsc-kgp-bds.pdf		641.49 kB	Adobe PDF	View/Open