Overview
- 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
- Includes supplementary material: sn.pub/extras
Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 463)
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Table of contents (7 chapters)
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Front Matter
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Back Matter
Keywords
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.
Authors and Affiliations
Bibliographic Information
Book Title: Robust Motion Control of Oscillatory-Base Manipulators
Book Subtitle: H∞-Control and Sliding-Mode-Control-Based Approaches
Authors: Masayoshi Toda
Series Title: Lecture Notes in Control and Information Sciences
DOI: https://doi.org/10.1007/978-3-319-21780-2
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing Switzerland 2016
Softcover ISBN: 978-3-319-21779-6Published: 17 August 2015
eBook ISBN: 978-3-319-21780-2Published: 08 August 2015
Series ISSN: 0170-8643
Series E-ISSN: 1610-7411
Edition Number: 1
Number of Pages: XII, 147
Number of Illustrations: 97 b/w illustrations
Topics: Control and Systems Theory, Offshore Engineering, Robotics and Automation
Industry Sectors: Aerospace, Automotive, Chemical Manufacturing, Electronics, Engineering, IT & Software, Materials & Steel, Oil, Gas & Geosciences, Telecommunications