| 000 | 03697nam a22005775i 4500 | ||
|---|---|---|---|
| 001 | 978-3-319-21780-2 | ||
| 003 | DE-He213 | ||
| 005 | 20220801221204.0 | ||
| 007 | cr nn 008mamaa | ||
| 008 | 150808s2016 sz | s |||| 0|eng d | ||
| 020 |
_a9783319217802 _9978-3-319-21780-2 |
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| 024 | 7 |
_a10.1007/978-3-319-21780-2 _2doi |
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| 050 | 4 | _aTJ212-225 | |
| 072 | 7 |
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_a629.8312 _223 |
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_a003 _223 |
| 100 | 1 |
_aToda, Masayoshi. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut _954612 |
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| 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. |
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| 300 |
_aXII, 147 p. 97 illus. _bonline resource. |
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| 336 |
_atext _btxt _2rdacontent |
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| 337 |
_acomputer _bc _2rdamedia |
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| 338 |
_aonline resource _bcr _2rdacarrier |
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| 347 |
_atext file _bPDF _2rda |
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| 490 | 1 |
_aLecture Notes in Control and Information Sciences, _x1610-7411 ; _v463 |
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| 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 |
_aControl engineering. _931970 |
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| 650 | 0 |
_aOffshore structures. _93808 |
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| 650 | 0 |
_aRobotics. _92393 |
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| 650 | 0 |
_aAutomation. _92392 |
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| 650 | 1 | 4 |
_aControl and Systems Theory. _931972 |
| 650 | 2 | 4 |
_aOffshore Engineering. _932294 |
| 650 | 2 | 4 |
_aControl, Robotics, Automation. _931971 |
| 710 | 2 |
_aSpringerLink (Online service) _954613 |
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| 773 | 0 | _tSpringer Nature eBook | |
| 776 | 0 | 8 |
_iPrinted edition: _z9783319217796 |
| 776 | 0 | 8 |
_iPrinted edition: _z9783319217819 |
| 830 | 0 |
_aLecture Notes in Control and Information Sciences, _x1610-7411 ; _v463 _954614 |
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| 856 | 4 | 0 | _uhttps://doi.org/10.1007/978-3-319-21780-2 |
| 912 | _aZDB-2-ENG | ||
| 912 | _aZDB-2-SXE | ||
| 912 | _aZDB-2-LNI | ||
| 942 | _cEBK | ||
| 999 |
_c79390 _d79390 |
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