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

  • B. Subudhi (a1) and A. S. Morris (a2)

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.

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  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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