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Keywords: singular perturbation
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Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2022, 144(8): 081004.
Paper No: DS-21-1130
Published Online: June 7, 2022
...Xin Cheng; Huashan Liu; Zhen Zeng; Wenke Lu This paper proposes a saturated output feedback controller for flexible-joint robot manipulators with joints of arbitrary flexibility. First, under the framework of singular perturbation theory, a saturated flexible compensator is introduced...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2014, 136(5): 051005.
Paper No: DS-12-1420
Published Online: May 22, 2014
... perturbation for the bilateral teleoperation of robots through Internet. This study provides sliding mode controller based on the singular perturbation model which is robust on time-varying delay. Using singular perturbation method, the teleoperation system is decomposed into fast and slow subsystems...
Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2013, 135(6): 061004.
Paper No: DS-11-1161
Published Online: August 23, 2013
... systems (EHSS) can be designed and analyzed using singular perturbation theory. In this paper, a singular perturbation control (SPC) algorithm is proposed and investigated on a rotary EHSS modeled based on a two-time-scale behavior of the system. For modeling, the components of the hydraulic system...
Journal Articles
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. September 2011, 133(5): 051004.
Published Online: July 27, 2011
... reduced order systems stability nonlinear systems singular perturbation robust performance H -infinity control disturbance attenuations One drawback of H ∞ design is that the order of the controller is at least equal to that of the plant, and larger if, as is common...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. January 2007, 129(1): 66–71.
Published Online: May 24, 2006
...Eduard Eitelberg; Edward Boje Construction of reduced order models using the conventional quasi-steady-state (QSS) or singular perturbation approach may not yield good low frequency approximations, especially if there is not a distinct time scale separation into slow and fast subsystems...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2006, 128(2): 297–306.
Published Online: April 27, 2005
... manipulators robust control flexible-link robot arm friction compensation serial gray box singular perturbation distributed mass-spring model Friction exists in all mechanical systems with complicated and time-varying characteristics and its behavior is not exactly known in general...