Control of Flexible-link Manipulators Using Neural Networks - Lecture Notes in Control and Information Sciences 261 (Paperback)
  • Control of Flexible-link Manipulators Using Neural Networks - Lecture Notes in Control and Information Sciences 261 (Paperback)
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Control of Flexible-link Manipulators Using Neural Networks - Lecture Notes in Control and Information Sciences 261 (Paperback)

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£105.50
Paperback 150 Pages / Published: 29/01/2001
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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.

Publisher: Springer London Ltd
ISBN: 9781852334093
Number of pages: 150
Weight: 540 g
Dimensions: 235 x 155 x 9 mm
Edition: 2001 ed.

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