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


This introductory chapter first defines the key terminology “oscillatory-base manipulator,” which represents a model system associated with mechanical systems installed on the oscillatory base. This category consists of two groups depending on the presence or the absence of external oscillatory disturbance. Typical examples with external oscillatory disturbance can be found in marine mechanical systems, such as offshore cranes, drill ships. The other group, i.e., with no external oscillatory disturbance, mainly contains space robots mounted on the flexible base. This monograph will focus on the former group of marine mechanical systems. We introduce related works and our own research history where the \(\mathcal {H}_\infty \) control framework and the sliding-mode control one have played important roles, and present the organization of the monograph.


Tracking Control Transfer Function Model Space Robot Propose Control System Base Oscillation 
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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Department of Ocean SciencesTokyo University of Marine Science and TechnologyTokyoJapan

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