Robust Motion Control of Oscillatory-Base Manipulators

H∞-Control and Sliding-Mode-Control-Based Approaches

  • Masayoshi Toda

Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 463)

About this book


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 download to make the methods described in the text easier to understand and to allow readers to experience practical procedures at first hand.



Disturbance Rejection H-infinity Control Offshore Mechanical Systems Robust Control Sliding-mode Control Systems with Oscillatory Bases

Authors and affiliations

  • Masayoshi Toda
    • 1
  1. 1.Department of Ocean SciencesTokyo University of Marine Science and TechnologyTokyoJapan

Bibliographic information

  • DOI
  • Copyright Information Springer International Publishing Switzerland 2016
  • Publisher Name Springer, Cham
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-319-21779-6
  • Online ISBN 978-3-319-21780-2
  • Series Print ISSN 0170-8643
  • Series Online ISSN 1610-7411
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