Control of Flexible-link Manipulators Using Neural Networks

di H.A. Talebi (Autore)

R.V. Patel (Autore)

K. Khorasani (Autore)

Springer London Ltd, 2001

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.

• Autore: H.A. Talebi, R.V. Patel, K. Khorasani
• Editore: Springer London Ltd
• Collana: Lecture Notes in Control and Information Sciences
• Anno: 2001
• Rilegatura: Paperback / softback
• Pagine: 150 p.
• Dimensioni: 235 x 155 mm
• EAN: 9781852334093

Testo in English