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Opis

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.

Szczegóły książki

Kategoria Książki po angielsku Technology, engineering, agriculture Electronics & communications engineering Electronics engineering

• Pełny tytuł: Control of Flexible-link Manipulators Using Neural Networks
• Autor: H. A. Talebi, R. V. Patel, K. Khorasani
• Język: Angielski
• Oprawa: Miękka
• Liczba stron: 150
• EAN: 9781852334093
• ISBN: 1852334096
• ID: 01435226
• Wydawca: Springer London Ltd
• Waga: 540 g
• Wymiary: 235 × 155 × 10 mm
• Data wydania: 29. January 2001

Ulubione w innej kategorii

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