Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems

✍ Scribed by Dr. Sang Joo Kwon, Prof. Wan Kyun Chung (auth.)

Publisher: Springer-Verlag Berlin Heidelberg
Year: 2004
Tongue: English
Leaves: 161
Series: Lecture Notes in Control and Information Sciences 307
Edition: 1
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

This monograph investigates a practical way to achieve robust motion control and state estimation (Kalman filtering) of mechanical systems, which is a promising approach in terms of the perturbation compensator. The book presents novel approaches for design and analysis of perturbation observers as well as an extension to robust motion control and robust state estimation. The book is written in a self-contained manner including experimental results in each chapter clearly validating the developed theories.

✦ Table of Contents

Introduction....Pages 1-10
Robust tracking control with hierarchical perturbation compensation....Pages 11-39
Robust performance of the multiloop perturbation compensator....Pages 41-64
Discrete-time design and analysis of perturbation observer....Pages 65-85
Combined observer design for robust state estimation and Kalman filtering....Pages 87-109
Control of coarse/fine dual-stage positioning system....Pages 111-128
Concluding remarks....Pages 129-131
Appendix A....Pages 133-138

✦ Subjects

Control, Robotics, Mechatronics; Vibration, Dynamical Systems, Control; Systems Theory, Control

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