Control of flexible-link manipulators using neural networks / H.A. Talebi, R.V. Patel, and K. Khorasani
- 作者： Talebi, H. A.
- 其他作者：
- 其他題名：
- Springer e-books
- 出版： London ;New York : Springer c2001
- 叢書名： Lecture Notes in Control and Information Sciences ;261
- 主題： Manipulators (Mechanism) , Neural networks (Computer science)
- ISBN： 9781852334093 (paper)
- URL：
電子書
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讀者標籤：
- 系統號： 005167921 | 機讀編目格式
館藏資訊
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.