Robust Motion Control of Oscillatory-Base Manipulators: H∞-Control and Sliding-Mode-Control-Based Approaches - Couverture souple

Toda, Masayoshi

9783319217796: Robust Motion Control of Oscillatory-Base Manipulators: H∞-Control and Sliding-Mode-Control-Based Approaches

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ISBN 10 : 3319217798 ISBN 13 : 9783319217796

Editeur : Springer, 2015

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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.

Les informations fournies dans la section � Synopsis � peuvent faire r�f�rence � une autre �dition de ce titre.

�diteurSpringer
Date d'�dition2015
ISBN 10 3319217798
ISBN 13 9783319217796
ReliureBroch�
Langueanglais
Num�ro d'�dition1
Nombre de pages160
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Robust Motion Control of Oscillatory-Base Manipulators : H�-Control and Sliding-Mode-Control-Based Approaches

Masayoshi Toda

Edit� par Springer International Publishing, 2015

ISBN 10 : 3319217798 ISBN 13 : 9783319217796

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Etat : Sehr gut. Zustand: Sehr gut - Buchschnitt verk�rzt - gepflegter, sauberer Zustand - Ausgabejahr 2016 | Seiten: 160 | Sprache: Englisch | Produktart: B�cher. N� de r�f. du vendeur 25784847/12

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Robust Motion Control of Oscillatory-Base Manipulators

Masayoshi Toda

Edit� par Springer International Publishing, 2015

ISBN 10 : 3319217798 ISBN 13 : 9783319217796

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Robust Motion Control of Oscillatory-Base Manipulators : H�-Control and Sliding-Mode-Control-Based Approaches

Masayoshi Toda

Edit� par Springer International Publishing, Springer International Publishing, 2015

ISBN 10 : 3319217798 ISBN 13 : 9783319217796

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Taschenbuch. Etat : Neu. Druck auf Anfrage Neuware - Printed after ordering - 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. N� de r�f. du vendeur 9783319217796

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Robust Motion Control of Oscillatory-Base Manipulators

Masayoshi Toda

Edit� par Springer International Publishing Aug 2015, 2015

ISBN 10 : 3319217798 ISBN 13 : 9783319217796

Neuf Taschenbuch

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Vendeur : BuchWeltWeit Ludwig Meier e.K., Bergisch Gladbach, Allemagne

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Taschenbuch. Etat : Neu. This item is printed on demand - it takes 3-4 days longer - Neuware -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. 160 pp. Englisch. N� de r�f. du vendeur 9783319217796

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