Singular Perturbation Modeling of the Flexible Joint Manipulator and Electric Vehicles Thermal Management System

The paper is a research on flexible-joint robot manipulator robust tracking control and thermal management system for Electric Vehicles(EV), where the dynamical uncertainty is modeled and evaluated as an Initial Value Problem (IVP), done through the Singular Perturbation Method (SPM). SPM solution leads to two branches of solutions, (i) boundary-layer correction (BLC) solution reviving the initial conditions lost to suboptimal stability, and (ii) an outer series solution that improves the steady-state performance. In the case of the Initial Value Problem (IVP) under investigation, where a flexible-joint robot manipulator and EV are approximated to second order, numerical simulations are provided and contrasted on a case where all the parameters are non-zero and the opposite case where all parameters are zero. The findings are shown to prove the effectiveness of the proposed SPM framework in the case of a brushless DC motors which drives a three joint articulated flexible-joint robot manipulator and the applicability of the Peltier-effect heat pumps for the temperature regulation of an EV.