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

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Masayoshi Toda

Robust Motion Control of Oscillatory-Base Manipulators

H∞-Control and Sliding-Mode-Control-Based Approaches

Masayoshi Toda

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English

Springer International Publishing AG
17 August 2015

Cybernetics & systems theory; Automatic control engineering; Offshore engineering

Series: Lecture Notes in Control and Information Sciences

Summary
Details

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.

By: Masayoshi Toda
Imprint: Springer International Publishing AG
Country of Publication: Switzerland
Edition: 1st ed. 2016
Volume: 463
Dimensions: Height: 235mm, Width: 155mm, Spine: 9mm
Weight: 2.526kg
ISBN: 9783319217796
ISBN 10: 3319217798
Series: Lecture Notes in Control and Information Sciences
Pages: 147
Publication Date: 17 August 2015
Audience: Professional and scholarly , Undergraduate
Format: Paperback
Publisher's Status: Active