Motion Control Systems

✍ Scribed by Asif Šabanović, Kouhei Ohnishi

• Publisher: Wiley
• Year: 2011
• Tongue: English
• Leaves: 376
• Edition: 1
• Category: Library

✦ Synopsis

Motion Control Systems is concerned with design methods that support the never-ending requirements for faster and more accurate control of mechanical motion. The book presents material that is fundamental, yet at the same time discusses the solution of complex problems in motion control systems. Methods presented in the book are based on the authors' original research results. Mathematical complexities are kept to a required minimum so that practicing engineers as well as students with a limited background in control may use the book. It is unique in presenting know-how accumulated through work on very diverse problems into a comprehensive unified approach suitable for application in high demanding, high-tech products. Major issues covered include motion control ranging from simple trajectory tracking and force control, to topics related to haptics, bilateral control with and without delay in measurement and control channels, as well as control of nonredundant and redundant multibody systems. Provides a consistent unified theoretical framework for motion control designOffers graduated increase in complexity and reinforcement throughout the bookGives detailed explanation of underlying similarities and specifics in motion controlUnified treatment of single degree-of-freedom and multibody systemsExplains the fundamentals through implementation examplesBased on classroom-tested materials and the authors' original research workWritten by the leading researchers in sliding mode control (SMC) and disturbance observer (DOB)Accompanying lecture notes for instructorsSimulink and MATLAB® codes available for readers to downloadMotion Control Systemsis an ideal textbook for a course on motion control or as a reference for post-graduates and researchers in robotics and mechatronics. Researchers and practicing engineers will also find the techniques helpful in designing mechanical motion systems.

✦ Table of Contents

Contents......Page 6
Preface......Page 10
About the Authors......Page 12
Part One Basics of Dynamicsand Control......Page 13
1.1 Basic Quantities......Page 15
1.2 Fundamental Concepts of Mechanical Systems......Page 19
1.3 Electric and Electromechanical Systems......Page 32
2 Control System Design......Page 41
2.1 Basic Concepts......Page 42
2.2 State Space Representation......Page 51
2.3 Dynamic Systems with Finite Time Convergence......Page 63
Part Two Issues in MotionControl......Page 73
3.1 Plant......Page 75
3.2 Acceleration Control......Page 79
3.3 Enforcing Convergence and Stability......Page 97
3.4 Trajectory Tracking......Page 119
4 Disturbance Observers......Page 127
4.1 Disturbance Model Based Observers......Page 130
4.2 Closed Loop Disturbance Observers......Page 139
4.3 Observer for Plant with Actuator......Page 144
4.4 Estimation of Equivalent Force and Equivalent Acceleration......Page 152
4.5 Functional Observers......Page 156
4.6 Dynamics of Plant with Disturbance Observer......Page 161
4.7 Properties of Measurement Noise Rejection......Page 172
4.8 Control of Compensated Plant......Page 176
5 Interactions and Constraints......Page 187
5.1 Interaction Force Control......Page 188
5.2 Constrained Motion Control......Page 205
5.3 Interactions in Functionally Related Systems......Page 227
6 Bilateral Control Systems......Page 245
6.1 Bilateral Control without Scaling......Page 246
6.2 Bilateral Control Systems in Acceleration Dimension......Page 263
6.3 Bilateral Systems with Communication Delay......Page 268
Part Three MultiBody Systems......Page 289
7 Confguration Space Control......Page 291
7.1 Independent Joint Control......Page 292
7.2 Vector Control in Configuratio Space......Page 293
7.3 Constraints in Configuratio Space......Page 302
7.4 Hard Constraints in Configuraion Space......Page 316
8 Operational Space Dynamics and Control......Page 325
8.1 Operational Space Dynamics......Page 326
8.2 Operational Space Control......Page 330
9.1 Task–Constraint Relationship......Page 349
9.2 Force Control......Page 353
9.3 Impedance Control......Page 357
9.4 Hierarchy of Tasks......Page 359
Index......Page 373