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Control of Flexible-link Manipulators Using Neural Networks

  • Book
  • © 2001

Overview

Authors:
  1. H. A. Talebi
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  2. R. V. Patel
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  3. K. Khorasani
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  • Authors well known in their field
  • Up-to-date experimental evaluations included

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 261)

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Table of contents (5 chapters)

  1. Front Matter

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  2. Introduction

    Pages 1-14

  3. Manipulator model

    Pages 15-32

  4. Output redefinition

    Pages 33-40

  5. Proposed neural network structures

    Pages 41-79

  6. Experimental results

    Pages 81-114

  7. Back Matter

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Keywords

About this book

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.

Bibliographic Information

  • Book Title: Control of Flexible-link Manipulators Using Neural Networks

  • Authors: H. A. Talebi, R. V. Patel, K. Khorasani

  • Series Title: Lecture Notes in Control and Information Sciences

  • DOI: https://doi.org/10.1007/BFb0110411

  • Publisher: Springer London

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer-Verlag London 2001

  • Softcover ISBN: 978-1-85233-409-3Published: 29 January 2001

  • eBook ISBN: 978-1-84628-572-1Published: 03 October 2007

  • Series ISSN: 0170-8643

  • Series E-ISSN: 1610-7411

  • Edition Number: 1

  • Number of Pages: XVIII, 150

  • Topics: Control, Robotics, Mechatronics

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