Robust Motion Control of Oscillatory-Base Manipulators - Toda, Masayoshi; - Prospero Internet Bookshop

Robust Motion Control of Oscillatory-Base Manipulators: H?-Control and Sliding-Mode-Control-Based Approaches
 
Product details:

ISBN13:9783319217796
ISBN10:3319217798
Binding:Paperback
No. of pages:147 pages
Size:235x155 mm
Weight:2526 g
Language:English
Illustrations: 97 Illustrations, black & white
0
Category:

Robust Motion Control of Oscillatory-Base Manipulators

H?-Control and Sliding-Mode-Control-Based Approaches
 
Edition number: 1st ed. 2016
Publisher: Springer
Date of Publication:
Number of Volumes: 1 pieces, Book
 
Normal price:

Publisher's listprice:
EUR 53.49
Estimated price in HUF:
23 252 HUF (22 144 HUF + 5% VAT)
Why estimated?
 
Your price:

21 391 (20 372 HUF + 5% VAT )
discount is: 8% (approx 1 860 HUF off)
The discount is only available for 'Alert of Favourite Topics' newsletter recipients.
Click here to subscribe.
 
Availability:

Estimated delivery time: In stock at the publisher, but not at Prospero's office. Delivery time approx. 3-5 weeks.
Not in stock at Prospero.
Can't you provide more accurate information?
 
  Piece(s)

 
Short description:

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.

 

Long description:

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.

Table of Contents:
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.