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    Control of Flexible-link Manipulators Using Neural Networks

Control of Flexible-link Manipulators Using Neural Networks

H.A. Talebi
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      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.
      Format: Paperback / softback CONTRIBUTORS: H.A. Talebi EAN: 9781852334093 COUNTRY: United Kingdom PAGES: WEIGHT: 540 g HEIGHT: 235 cm
      PUBLISHED BY: Springer London Ltd DATE PUBLISHED: 2001-01-29 CITY: GENRE: TECHNOLOGY & ENGINEERING / Automation WIDTH: 155 cm SPINE:

      Book Themes:

      Automatic control engineering

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      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.
      Format: Paperback / softback CONTRIBUTORS: H.A. Talebi EAN: 9781852334093 COUNTRY: United Kingdom PAGES: WEIGHT: 540 g HEIGHT: 235 cm
      PUBLISHED BY: Springer London Ltd DATE PUBLISHED: 2001-01-29 CITY: GENRE: TECHNOLOGY & ENGINEERING / Automation WIDTH: 155 cm SPINE:

      Book Themes:

      Automatic control engineering

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