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Robust motion control of oscillatory-base manipulators = H[infinity]-control and sliding-mode-control-based approaches /

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Robust motion control of oscillatory-base manipulators/ by Masayoshi Toda.
其他題名:	H[infinity]-control and sliding-mode-control-based approaches /
作者:	Toda, Masayoshi.
出版者:	Cham :Springer International Publishing : : 2016.,
面頁冊數:	xii, 147 p. :ill., digital ; : 24 cm.;
Contained By:	Springer eBooks
標題:	Robust control. -
電子資源:	http://dx.doi.org/10.1007/978-3-319-21780-2
ISBN:	9783319217802

Robust motion control of oscillatory-base manipulators = H[infinity]-control and sliding-mode-control-based approaches /
Toda, Masayoshi.

Robust motion control of oscillatory-base manipulatorsH[infinity]-control and sliding-mode-control-based approaches /[electronic resource] :by Masayoshi Toda. - Cham :Springer International Publishing :2016. - xii, 147 p. :ill., digital ;24 cm. - Lecture notes in control and information sciences,v.4630170-8643 ;. - Lecture notes in control and information sciences ;382..

Introduction -- Problem and Dynamical Model Formulations -- Motion Control Using an H-infinity-control-based Approach -- Motion Control Using a Sliding-mode-control Approach -- Estimation of Base Oscillation Using an H-infinity-and-Kalman-filters-based Approach -- Conclusion.

This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researchers interested in the robust control of mechanical systems operating on unstable bases will find this monograph valuable. MATLAB and Simulink programs are available for download to make the methods described in the text easier to understand and to allow readers to experience practical procedures at first hand.

ISBN: 9783319217802

Standard No.: 10.1007/978-3-319-21780-2doiSubjects--Topical Terms:

639522
Robust control.

LC Class. No.: TJ217.2

Dewey Class. No.: 629.8

Robust motion control of oscillatory-base manipulators = H[infinity]-control and sliding-mode-control-based approaches /
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505 0 $a Introduction -- Problem and Dynamical Model Formulations -- Motion Control Using an H-infinity-control-based Approach -- Motion Control Using a Sliding-mode-control Approach -- Estimation of Base Oscillation Using an H-infinity-and-Kalman-filters-based Approach -- Conclusion.
520 $a This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researchers interested in the robust control of mechanical systems operating on unstable bases will find this monograph valuable. MATLAB and Simulink programs are available for download to make the methods described in the text easier to understand and to allow readers to experience practical procedures at first hand.
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