| 书目名称 | Robust Motion Control of Oscillatory-Base Manipulators |
| 副标题 | H∞-Control and Slidi |
| 编辑 | Masayoshi Toda |
| 视频video | |
| 概述 | Useful simultaneous source for H-infinity and sliding-mode control in the same class of system.MATLAB®/Simulink® files facilitate practical transfer of learned theory into practice.Self-contained trea |
| 丛书名称 | Lecture Notes in Control and Information Sciences |
| 图书封面 |  |
| 描述 | .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 downlo |
| 出版日期 | Book 2016 |
| 关键词 | Disturbance Rejection; H-infinity Control; Offshore Mechanical Systems; Robust Control; Sliding-mode Con |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-3-319-21780-2 |
| isbn_softcover | 978-3-319-21779-6 |
| isbn_ebook | 978-3-319-21780-2Series ISSN 0170-8643 Series E-ISSN 1610-7411 |
| issn_series | 0170-8643 |
| copyright | Springer International Publishing Switzerland 2016 |
发表于 2025-3-21 18:38:33
