Control of Flexible-link Manipulators Using Neural Networks
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.
1101496599
Control of Flexible-link Manipulators Using Neural Networks
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.
54.99
In Stock
5
1
Control of Flexible-link Manipulators Using Neural Networks
150
Control of Flexible-link Manipulators Using Neural Networks
150Paperback(2001)
$54.99
54.99
In Stock
Product Details
| ISBN-13: | 9781852334093 |
|---|---|
| Publisher: | Springer London |
| Publication date: | 02/23/2001 |
| Series: | Lecture Notes in Control and Information Sciences , #261 |
| Edition description: | 2001 |
| Pages: | 150 |
| Product dimensions: | 6.10(w) x 9.25(h) x 0.36(d) |
From the B&N Reads Blog