| Description |
1 online resource (x, 364 pages) : illustrations |
| Contents |
PART ONE. BASICS OF DYNAMICS AND CONTROL -- 1. Dynamics of Electromechanical Systems -- 1.1. Basic Quantities -- 1.2. Fundamental Concepts of Mechanical Systems -- 1.3. Electric and Electromechanical Systems -- 2. Control System Design -- 2.1. Basic Concepts -- 2.2. State Space Representation -- 2.3. Dynamic Systems with Finite Time Convergence -- PART TWO. ISSUES IN MOTION CONTROL -- 3. Acceleration Control -- 3.1. Plant -- 3.2. Acceleration Control -- 3.3. Enforcing Convergence and Stability -- 3.4. Trajectory Tracking -- 4. Disturbance Observers -- 4.1. Disturbance Model Based Observers -- 4.2. Closed Loop Disturbance Observers -- 4.3. Observer for Plant with Actuator -- 4.4. Estimation of Equivalent Force and Equivalent Acceleration -- 4.5. Functional Observers -- 4.6. Dynamics of Plant with Disturbance Observer -- 4.7. Properties of Measurement Noise Rejection -- 4.8. Control of Compensated Plant -- 5. Interactions and Constraints -- 5.1. Interaction Force Control -- 5.2. Constrained Motion Control -- 5.3. Interactions in Functionally Related Systems -- 6. Bilateral Control Systems -- 6.1. Bilateral Control without Scaling -- 6.2. Bilateral Control Systems in Acceleration Dimension -- 6.3. Bilateral Systems with Communication Delay -- PART THREE. MULTIBODY SYSTEMS -- 7. Configuration Space Control -- 7.1. Independent Joint Control -- 7.2. Vector Control in Configuration Space -- 7.3. Constraints in Configuration Space -- 7.4. Hard Constraints in Configuration Space -- 8. Operational Space Dynamics and Control -- 8.1. Operational Space Dynamics -- 8.2. Operational Space Control -- 9. Interactions in Operational Space -- 9.1. Task-Constraint Relationship -- 9.2. Force Control -- 9.3. Impedance Control -- 9.4. Hierarchy of Tasks -- Index |
| Summary |
"Presents a unified approach to the fundamental issues in motion control, starting from the basics and moving through single degree of freedom and multi-degree of freedom systems In Motion Control Systems, Šabanovic and Ohnishi present a unified approach to very diverse issues covered in motion control systems, offering know-how accumulated through work on very diverse problems into a comprehensive, integrated approach suitable for application in high demanding high-tech products. It covers material from single degree of freedom systems to complex multi-body non-redundant and redundant systems. The discussion of the main subject is based on original research results and will give treatment of the issues in motion control in the framework of the acceleration control method with disturbance rejection technique. This allows consistent unification of different issues in motion control ranging from simple trajectory tracking to topics related to haptics and bilateral control without and with delay in the measurement and control channels. Šabanovic and Ohnishi offer a gradual passage from the simplest single degree of freedom systems to most complicated task control in redundant multi-body systems. The salient properties of the control approach can be grasped in a full extent, and the control of multi-body systems becomes a natural extension of the single degree of freedom systems and can be easily followed. Goes beyond component level of most existing books and introduces systemic, fundamental issues with diverse application Offers graduated increase in complexity through the book, with reinforcement in subsequent chapters Explains the fundamentals through implementation examples, with illustrations in MATLAB/SIMULINK or with experimental results Gives newcomers solid grounding in modeling and control Based on classroom tested materials and the authors' original research work Written by the leading researchers in sliding mode control (SMC) and disturbance observer (DOB) Lecture notes on the companion website for instructors to download Simulink and MATLAB code for readers to download"-- Provided by publisher |
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"The discussion of the main subject is based on original research results and will give treatment of the issues in motion control in the framework of the acceleration control method with disturbance rejection technique"-- Provided by publisher |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Print version record and online resource; title from PDF title page (IEEE Xplore, viewed April 24, 2014) |
| Subject |
Motion control devices.
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Motion control devices
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| Form |
Electronic book
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| Author |
Ohnishi, K. (Kouhei), 1952- author.
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| ISBN |
9780470825754 |
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0470825758 |
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9780470825747 |
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047082574X |
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9780470828298 |
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0470828293 |
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9781283372459 |
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1283372452 |
|
