Control of Flexible-link Manipulators Using Neural Networks (Paperback, 2001 ed.)

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.

General

Imprint:	Springer London
Country of origin:	United Kingdom
Series:	Lecture Notes in Control and Information Sciences, 261
Release date:	2001
First published:	2001
Authors:	H.A. Talebi • R.V. Patel • K. Khorasani
Dimensions:	235 x 155 x 9mm (L x W x T)
Format:	Paperback
Pages:	150
Edition:	2001 ed.
ISBN-13:	978-1-85233-409-3
Categories:	Books > Computing & IT > Applications of computing > Artificial intelligence > Neural networks Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > General
LSN:	1-85233-409-6
Barcode:	9781852334093

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