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 vari...
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| Hoofdauteurs: | , , |
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| Formaat: | Livre numérique |
| Taal: | Anglais |
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Berlin ; Paris [etc.] :
Springer e-books
[20..].
Cham : Springer Nature |
| Reeks: | Lecture notes in control and information sciences
261 |
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| Edition sous un autre format: | • Control of flexible-link manipulators using neural networks, H.A. Talebi, R.V. Patel, and K. Khorasani, London, Springer, 2001, XVIII-142 p., Lecture notes in control and information sciences, 1-85233-409-6 • Control of Flexible-link Manipulators Using Neural Networks, Texte imprimé, 9781447139515 |
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| 100 | 1 | |a Talebi, Heidar A., |d 1965- | |
| 245 | 1 | 0 | |a Control of flexible-link manipulators using neural networks |c H.A. Talebi, R.V. Patel and K. Khorasani. |
| 260 | |a Berlin ; |a Paris [etc.] : |b Springer e-books. | ||
| 260 | |a Cham : |b Springer Nature, |c [20..]. | ||
| 490 | 0 | |a Lecture notes in control and information sciences |v 261 |x 1610-7411 | |
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 500 | |a Archives Springer e-books (Licence nationale) | ||
| 505 | 0 | |a Manipulator model -- Output redefinition -- Proposed neural network structures -- Experimental results. | |
| 506 | |a Accès en ligne pour les établissements français bénéficiaires des licences nationales | ||
| 506 | |a Accès soumis à abonnement pour tout autre établissement | ||
| 506 | |a Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. https://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 | ||
| 520 | |a 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. | ||
| 650 | |a Réseaux neuronaux (informatique) | ||
| 650 | |a Ingénierie | ||
| 650 | |a Manipulateurs (mécanismes) | ||
| 700 | 1 | |a Patel, Rajni V. |4 aut | |
| 700 | 1 | |a Khorasani, Khashayar. |4 aut | |
| 776 | 0 | |0 058892117 |t Control of flexible-link manipulators using neural networks |f H.A. Talebi, R.V. Patel, and K. Khorasani |c London |n Springer |d 2001 |p XVIII-142 p. |s Lecture notes in control and information sciences |z 1-85233-409-6 | |
| 776 | 0 | |t Control of Flexible-link Manipulators Using Neural Networks |b Texte imprimé |z 9781447139515 | |
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