{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,2]],"date-time":"2026-10-02T05:10:44Z","timestamp":1790917844927,"version":"4.1.0"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2005,10,31]],"date-time":"2005-10-31T00:00:00Z","timestamp":1130716800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2006,3]]},"abstract":"<jats:p>A novel composite control scheme for a manipulator with flexible links and joints is presented that uses the singular perturbation technique (SPT) to divide the manipulator dynamics into reduced order slow and fast subsystems. A neural network controller is then applied for the slow subsystem and a state-feedback <jats:italic>H<\/jats:italic><jats:sub>\u221e<\/jats:sub> controller for the fast subsystem. Results are presented that demonstrate improved performance over an alternative SPT-based controller that uses inverse dynamics and LQR controllers.<\/jats:p>","DOI":"10.1017\/s0263574705001852","type":"journal-article","created":{"date-parts":[[2005,10,31]],"date-time":"2005-10-31T08:39:18Z","timestamp":1130747958000},"page":"151-161","source":"Crossref","is-referenced-by-count":28,"title":["Singular perturbation based neuro-H<sub>\u221e<\/sub> control scheme for a manipulator with flexible links and joints"],"prefix":"10.1017","volume":"24","author":[{"given":"B.","family":"Subudhi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"A. S.","family":"Morris","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2005,10,31]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574705001852","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,8]],"date-time":"2019-04-08T16:29:24Z","timestamp":1554740964000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574705001852\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,10,31]]},"references-count":0,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2006,3]]}},"alternative-id":["S0263574705001852"],"URL":"https:\/\/doi.org\/10.1017\/s0263574705001852","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2005,10,31]]}}}