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Keywords: singular perturbation
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Journal Articles
Publisher: ASME
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
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2014, 136(5): 051005.
Paper No: DS-12-1420
Published Online: May 22, 2014
... proposes a new method of controller design based on singular 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...
Journal Articles
Journal Articles
Publisher: ASME
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
Publisher: ASME
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
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2006, 128(2): 297–306.
Published Online: April 27, 2005
... control schema based on singular perturbation theory has been proposed for FLA’s. Effectiveness of this method in comparison with standard PD and PID controllers has been addressed in ( 11 ). Using a filtered-error neural approximation-based control method, the slow control law that was designed in ( 10...