Singular perturbation based neuro-H[infty infinity] control scheme for a manipulator with flexible links and joints
A novel composite control scheme for a manipulator with flexible links and joints is presented that uses the singular perturbation technique (SPT) to divide the manipulator dynamics into reduced order slow and fast subsystems. A neural network controller is then applied for the slow subsystem and a state-feedback H[infty infinity] controller for the fast subsystem. Results are presented that demonstrate improved performance over an alternative SPT-based controller that uses inverse dynamics and LQR controllers.(Published Online October 31 2005)
(Received March 12 2005)
Key Words: Neuro-H[infty infinity] control; Singular perturbation; Flexible links.
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