Control of Flexible-link Manipulators Using Neural Networks / Edition 1

by H.A. Talebi, R.V. Patel, K. Khorasani

Overview

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.

Product Details

ISBN-13:	9781852334093
Publisher:	Springer London
Publication date:	02/23/2001
Series:	Lecture Notes in Control and Information Sciences , #261
Edition description:	2001
Pages:	150
Product dimensions:	6.10(w) x 9.25(h) x 0.36(d)

Table of Contents

Manipulator model.- Output redefinition.- Proposed neural network structures.- Experimental results.