The singular perturbation approach has been shown to be successful in controlling both  exible link manipulators and  exible joint manipulators. In this paper, the technique is extended to control both link and joint  exibility of a multilink manipulator simultaneously while a desired trajectory is being tracked. A comprehensive, closed-form, Euler–Lagrange, assumed-mode model of a multilink...

This paper presents the design of an additive fault tolerant control for nonlinear time-invariant singularly perturbed systems against actuator faults based on Lyapunov redesign principle. The overall system is reduced into subsystems with fast and slow dynamic behavior using singular perturbation method. The time scale reduction is carried out when the singular perturbation parameter is set to...

Small perturbation of the Liouville equation under smooth initial data is considered. Asymptotic solution which is available for a long time interval is constructed by the two scale method. The Cauchy problem for the Liouville equation with a small perturbation ∂ 2 t u − ∂ 2 x u + 8 exp u = εF[u], 0 < ε ≪ 1, (0.1) u| t=0 = ψ 0 (x), ∂ t u| t=0 = ψ 1 (x), x ∈ R (0.2) is considered. The problem is...