Robust Motion Control of Oscillatory-Base Manipulators (Record no. 56636)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 03378nam a22005175i 4500 |
| 001 - CONTROL NUMBER | |
| control field | 978-3-319-21780-2 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20200421112041.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 150808s2016 gw | s |||| 0|eng d |
| 020 ## - INTERNATIONAL STANDARD BOOK NUMBER | |
| ISBN | 9783319217802 |
| -- | 978-3-319-21780-2 |
| 082 04 - CLASSIFICATION NUMBER | |
| Call Number | 629.8 |
| 100 1# - AUTHOR NAME | |
| Author | Toda, Masayoshi. |
| 245 10 - TITLE STATEMENT | |
| Title | Robust Motion Control of Oscillatory-Base Manipulators |
| Sub Title | H∞-Control and Sliding-Mode-Control-Based Approaches / |
| 250 ## - EDITION STATEMENT | |
| Edition statement | 1st ed. 2016. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Number of Pages | XII, 147 p. 97 illus. |
| 490 1# - SERIES STATEMENT | |
| Series statement | Lecture Notes in Control and Information Sciences, |
| 505 0# - FORMATTED CONTENTS NOTE | |
| Remark 2 | 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. |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc | 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.  . |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | http://dx.doi.org/10.1007/978-3-319-21780-2 |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | eBooks |
| 264 #1 - | |
| -- | Cham : |
| -- | Springer International Publishing : |
| -- | Imprint: Springer, |
| -- | 2016. |
| 336 ## - | |
| -- | text |
| -- | txt |
| -- | rdacontent |
| 337 ## - | |
| -- | computer |
| -- | c |
| -- | rdamedia |
| 338 ## - | |
| -- | online resource |
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| -- | rdacarrier |
| 347 ## - | |
| -- | text file |
| -- | |
| -- | rda |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control engineering. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Automation. |
| 650 #0 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Building construction. |
| 650 14 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Engineering. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Control. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Offshore Engineering. |
| 650 24 - SUBJECT ADDED ENTRY--SUBJECT 1 | |
| -- | Robotics and Automation. |
| 830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE | |
| -- | 0170-8643 ; |
| 912 ## - | |
| -- | ZDB-2-ENG |
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