...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...

... 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...

... 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...

... 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...

...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...

... 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...