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001			84796
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008			150808s2016 gw | s |||| 0|eng d
020			_a9783319217802
040			_aES-MaUEC
050		4	_aTJ217.2 _bT633 2016
082	0	4	_a629.8
100	1		_aToda, Masayoshi. _997260 _0Local
245	1	0	_aRobust Motion Control of Oscillatory-Base Manipulators : _bH8-Control and Sliding-Mode-Control-Based Approaches _cby Masayoshi Toda
250			_a1st ed.
260			_aCham _bSpringer International Publishing _c2016
300			_a1 recurso en línea (XII, 147 páginas) _b97 ilustraciones
336			_aTexto _btxt _2rdacontent
337			_aelectrónico _bc _2rdamedia
338			_arecurso electrónico _bcr _2rdacarrier
490	0		_aLecture Notes in Control and Information Sciences _x0170-8643 _v463
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	3		_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. �.
710	2		_aSpringerLink (Online service) _0Local _9106996
942			_2lcc _cLE
988			_aEBOOK, asignarmaterias , EBSPRINGER
650	0	7	_aControl automático _0 _2embne _9405125
650		7	_aRobótica _0comprobar BNE20022405562 _2embne _9160676
856	4	0	_uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://link.springer.com/book/10.1007/978-3-319-21780-2 _zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
901			_ai9783319217802
907			_a.b12940744 _b10-10-17 _c21-11-16
998			_am _a_alco _a_vill _b - - _cm _dz _e- _feng _ggw _h0
945			_aTJ217.2 T633 2016 EB _g1 _ieBOOK _j0 _lmae _o- _pEUR0.00 _q- _r- _sb _t15 _u0 _v0 _w0 _x0 _y.i1158516x _z06-04-17
999			_c84796 _d84796 _x1