Lecture Notes in Control and Information Sciences

Control of Flexible-link Manipulators Using Neural Networks

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

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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.

Table of contents (5 chapters)

Table of contents (5 chapters)

Buy this book

eBook 83,29 €
price for Spain (gross)
  • The eBook version of this title will be available soon
  • ISBN 978-1-84628-572-1
  • Digitally watermarked, DRM-free
  • Included format:
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover 103,99 €
price for Spain (gross)
  • ISBN 978-1-85233-409-3
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
  • The final prices may differ from the prices shown due to specifics of VAT rules
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Bibliographic Information

Bibliographic Information
Book Title
Control of Flexible-link Manipulators Using Neural Networks
Authors
Series Title
Lecture Notes in Control and Information Sciences
Series Volume
261
Copyright
2001
Publisher
Springer-Verlag London
Copyright Holder
Springer-Verlag London
eBook ISBN
978-1-84628-572-1
DOI
10.1007/BFb0110411
Softcover ISBN
978-1-85233-409-3
Series ISSN
0170-8643
Edition Number
1
Number of Pages
XVIII, 150
Topics