000 03378nam a22005175i 4500
001 978-3-319-21780-2
003 DE-He213
005 20200421112041.0
007 cr nn 008mamaa
008 150808s2016 gw | s |||| 0|eng d
020 _a9783319217802
_9978-3-319-21780-2
024 7 _a10.1007/978-3-319-21780-2
_2doi
050 4 _aTJ212-225
072 7 _aTJFM
_2bicssc
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aToda, Masayoshi.
_eauthor.
245 1 0 _aRobust Motion Control of Oscillatory-Base Manipulators
_h[electronic resource] :
_bH∞-Control and Sliding-Mode-Control-Based Approaches /
_cby Masayoshi Toda.
250 _a1st ed. 2016.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2016.
300 _aXII, 147 p. 97 illus.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aLecture Notes in Control and Information Sciences,
_x0170-8643 ;
_v463
505 0 _aIntroduction -- 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 _aThis 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.  .
650 0 _aEngineering.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 0 _aBuilding construction.
650 1 4 _aEngineering.
650 2 4 _aControl.
650 2 4 _aOffshore Engineering.
650 2 4 _aRobotics and Automation.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319217796
830 0 _aLecture Notes in Control and Information Sciences,
_x0170-8643 ;
_v463
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-21780-2
912 _aZDB-2-ENG
942 _cEBK
999 _c56636
_d56636