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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Robust Motion Control of Oscillatory-Base Manipulators: H∞-Control and Sliding-Mode-Control-Based Approaches

Robust Motion Control of Oscillatory-Base Manipulators: H∞-Control and Sliding-Mode-Control-Based Approaches

Toda, Masayoshi

Paperback

Series: Lecture Notes in Control and Information Sciences, Book 463

Technology & Engineering

ISBN10: 3319217798
ISBN13: 9783319217796
Publisher: Springer Nature
Published: Aug 17 2015
Pages: 147
Weight: 0.51
Height: 0.34 Width: 6.14 Depth: 9.21
Language: English

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.

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