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

Published online by Cambridge University Press:  31 October 2005

B. Subudhi  and
A. S. Morris
B. Subudhi
Affiliation:
Dept. of Electrical Engineering, Indira Gandhi Institute of Technology, Sarang-759146, Orissa, (India).
A. S. Morris
Affiliation:
Dept. of Automatic Control & Systems Engineering, Mappin Street, Sheffield S1 3JD, University of Sheffield (UK).
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Abstract

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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.

Keywords

Neuro-H∞ controlSingular perturbationFlexible links
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 151 - 161
Copyright
2005 Cambridge University Press