Verfügbarkeit: Robust motion control of oscillatory base manipulators

Robust motion control of oscillatory base manipulators: H [infinity] -control and sliding mode control based approaches

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Bibliographische Detailangaben
1. Verfasser:	Toda, Masayoshi (VerfasserIn)
Format:	Elektronisch E-Book
Sprache:	English
Veröffentlicht:	Cham Springer [2016]
Schriftenreihe:	Lecture notes in control and information sciences volume 463
Schlagworte:	Engineering Control engineering Robotics Automation Building construction Control Offshore Engineering Robotics and Automation Ingenieurwissenschaften
Online-Zugang:	BTU01 FAB01 FAW01 FHA01 FHI01 FHN01 FHR01 FKE01 FRO01 FWS01 FWS02 UBY01 URL des Erstveröffentlichers Inhaltsverzeichnis Abstract
Beschreibung:	1 Online Ressource (xii, 147 Seiten)
ISBN:	9783319217802
ISSN:	BV014011570
DOI:	10.1007/978-3-319-21780-2

Internformat

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Datensatz im Suchindex

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adam_text	ROBUST MOTION CONTROL OF OSCILLATORY-BASE MANIPULATORS / TODA, MASAYOSHI : 2016 TABLE OF CONTENTS / INHALTSVERZEICHNIS 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 DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT. ROBUST MOTION CONTROL OF OSCILLATORY-BASE MANIPULATORS / TODA, MASAYOSHI : 2016 ABSTRACT / INHALTSTEXT 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. DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
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series2	Lecture notes in control and information sciences
spellingShingle	Toda, Masayoshi Robust motion control of oscillatory base manipulators H [infinity] -control and sliding mode control based approaches Engineering Control engineering Robotics Automation Building construction Control Offshore Engineering Robotics and Automation Ingenieurwissenschaften
title	Robust motion control of oscillatory base manipulators H [infinity] -control and sliding mode control based approaches
title_auth	Robust motion control of oscillatory base manipulators H [infinity] -control and sliding mode control based approaches
title_exact_search	Robust motion control of oscillatory base manipulators H [infinity] -control and sliding mode control based approaches
title_full	Robust motion control of oscillatory base manipulators H [infinity] -control and sliding mode control based approaches Masayoshi Toda
title_fullStr	Robust motion control of oscillatory base manipulators H [infinity] -control and sliding mode control based approaches Masayoshi Toda
title_full_unstemmed	Robust motion control of oscillatory base manipulators H [infinity] -control and sliding mode control based approaches Masayoshi Toda
title_short	Robust motion control of oscillatory base manipulators
title_sort	robust motion control of oscillatory base manipulators h infinity control and sliding mode control based approaches
title_sub	H [infinity] -control and sliding mode control based approaches
topic	Engineering Control engineering Robotics Automation Building construction Control Offshore Engineering Robotics and Automation Ingenieurwissenschaften
topic_facet	Engineering Control engineering Robotics Automation Building construction Control Offshore Engineering Robotics and Automation Ingenieurwissenschaften
url	https://doi.org/10.1007/978-3-319-21780-2 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028635039&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=028635039&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA
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