Titlebook: Control of Flexible-link Manipulators Using Neural Networks; H. A. Talebi,R. V. Patel,K. Khorasani Book 2001 Springer-Verlag London 2001 F

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Output redefinition,table. This is done by neglecting the payload and linearizing the zero dynamics of the system. Then, the stability of the zero dynamics associated to this new output was shown to be ensured as payload mass .. increases. This enables us to design such controllers that remain robust to the payload variation. This is the subject of the next chapter.

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Book 2001 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 non

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Martin Mihajlov,Borka Jerman-Blazictable. This is done by neglecting the payload and linearizing the zero dynamics of the system. Then, the stability of the zero dynamics associated to this new output was shown to be ensured as payload mass .. increases. This enables us to design such controllers that remain robust to the payload variation. This is the subject of the next chapter.

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Book 2001nsidered 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.

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Control of Flexible-link Manipulators Using Neural Networks

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