Problem Definition, Dynamical Model Formulation

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


This chapter presents the problem definition and dynamical model formulation of an oscillatory-base manipulator considering an illustrative example, which we will work on throughout the monograph. We will consider three types of control problems, specifically attitude control in local coordinates (base-fixed coordinates) which is associated with on-board operations such as cargo handling, attitude control in global coordinates (earth-fixed coordinates), e.g., radar gimbal systems, and position control in global coordinates, e.g., heave-motion-compensated cranes. Further, as patterns of base oscillation, we consider three patterns, single-frequency sinusoidal oscillation, double-frequency sinusoidal one, and ocean-wave imitated oscillation based on the Bretschneider spectrum. Using combinations of those cases, we will demonstrate control system design and analysis, control simulations and experiments.


Attitude Control Coordinate Frame Oscillation Model Base Motion Task Space 
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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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