Kinematics and Robust Control for Mechanical Systems: Application Studies of Control and Dynamical Systems - Couverture souple

Hong, Seongil

 
9783845423524: Kinematics and Robust Control for Mechanical Systems: Application Studies of Control and Dynamical Systems
Couverture souple
ISBN 10 : 3845423528 ISBN 13 : 9783845423524
Editeur : LAP Lambert Academic Publishing, 2011

Synopsis

When designing mechanical control system, the designer is inevitably led to face the problems of kinematics, dynamics, and control. These subjects are explained with two practical application case studies. One is a spatial motion simulator, and the other is an inertially stabilized system (ISS) for tracking radar. Both two applications have many similar and opposite aspects in the point of kinematics, dynamics, and control. For kinematics, motion simulator is a parallel kinematic structure and a non real time problem, but the ISS is a serial and requires a real time computation to compensate the rigid body base motion. The dynamics of motion simulator is nonlinear, and it is derived by Lagrangian equation. But flexible dynamics of ISS can be approximated by Newtonian mechanics. In the control of motion simulator, a robust PID controller is designed, and tuning law and the performance limitations are described. The robust controller of ISS is used to cope with the flexibility uncertainty and to stabilize the line of sight of radar antenna. In addition, performance enhancement method is presented by using disturbance observers to compensate the actuator nonlinearities.

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À propos de l?auteur

Seongil Hong received the M.S. degree in mechanical engineering from POSTECH, Korea in 2004. He was at Hyundai-Kia motor company, and since 2006 he has been a researcher of Agency for Defense Development. His current research areas are control and dynamical systems, robotics, estimation theory, radar signal processing, and applied mathematics.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP Lambert Academic Publishing
Date d'édition
2011
Langue
anglais
ISBN 10 
3845423528
ISBN 13 
9783845423524
Reliure
Broché
Nombre de pages
132
Coordonnées du fabricant
non disponible
Personne responsable
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