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Article

Singular perturbation based neuro-H[infty infinity] control scheme for a manipulator with flexible links and joints


B. Subudhi a1 and A. S. Morris a2c1
a1 Dept. of Electrical Engineering, Indira Gandhi Institute of Technology, Sarang-759146, Orissa, (India).
a2 Dept. of Automatic Control & Systems Engineering, Mappin Street, Sheffield S1 3JD, University of Sheffield (UK).

Article author query
subudhi b   [Google Scholar] 
morris as   [Google Scholar] 
 

Abstract

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.

Correspondence:
c1 Corresponding author. E-mail: acse@sheffield.ac.uk