Control of Flexible-link Manipulators Using Neural Networks Paperback / softback
by H.A. Talebi, R.V. Patel, K. Khorasani
Part of the Lecture Notes in Control and Information Sciences series
Paperback / softback
Description
Control of Flexible-link Manipulators Using Neural Networks addresses the difficulties that arise in controlling the end-point of a manipulator that has a significant amount of structural flexibility in its links.
The non-minimum phase characteristic, coupling effects, nonlinearities, parameter variations and unmodeled dynamics in such a manipulator all contribute to these difficulties.
Control strategies that ignore these uncertainties and nonlinearities generally fail to provide satisfactory closed-loop performance.
This monograph develops and experimentally evaluates several intelligent (neural network based) control techniques to address the problem of controlling the end-point of flexible-link manipulators in the presence of all the aforementioned difficulties.
To highlight the main issues, a very flexible-link manipulator whose hub exhibits a considerable amount of friction is considered for the experimental work.
Four different neural network schemes are proposed and implemented on the experimental test-bed.
The neural networks are trained and employed as online controllers.
Information
-
Item not Available
- Format:Paperback / softback
- Pages:150 pages, XVIII, 150 p.
- Publisher:Springer London Ltd
- Publication Date:29/01/2001
- Category:
- ISBN:9781852334093
Information
-
Item not Available
- Format:Paperback / softback
- Pages:150 pages, XVIII, 150 p.
- Publisher:Springer London Ltd
- Publication Date:29/01/2001
- Category:
- ISBN:9781852334093
