...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...

... 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...

... electro-hydraulic servo-system, identify system parameters in a real-time experimental manner, and to design and implement servo-controllers appropriate for the angular position and velocity control. The singular perturbation control methodology was developed as a nonlinear robust control technique...

... 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...

... 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...