Lecture Notes in Control and Information Sciences

Robust Motion Control of Oscillatory-Base Manipulators

H∞-Control and Sliding-Mode-Control-Based Approaches

Authors: Toda, Masayoshi

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  • Useful simultaneous source for H-infinity and sliding-mode control in the same class of system
  • MATLAB®/Simulink® files facilitate practical transfer of learned theory into practice
  • Self-contained treatment for reader convenience
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  • ISBN 978-3-319-21780-2
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About this book

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 (7 chapters)

Table of contents (7 chapters)

Buy this book

eBook $69.99
price for USA in USD (gross)
  • ISBN 978-3-319-21780-2
  • Digitally watermarked, DRM-free
  • Included format: EPUB, PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Softcover $89.99
price for USA in USD
  • ISBN 978-3-319-21779-6
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Robust Motion Control of Oscillatory-Base Manipulators
Book Subtitle
H∞-Control and Sliding-Mode-Control-Based Approaches
Authors
Series Title
Lecture Notes in Control and Information Sciences
Series Volume
463
Copyright
2016
Publisher
Springer International Publishing
Copyright Holder
Springer International Publishing Switzerland
eBook ISBN
978-3-319-21780-2
DOI
10.1007/978-3-319-21780-2
Softcover ISBN
978-3-319-21779-6
Series ISSN
0170-8643
Edition Number
1
Number of Pages
XII, 147
Number of Illustrations
97 b/w illustrations
Topics