Motion control systems / Asif Sabanovic, Kouhei Ohnishi. 6

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Includes bibliographical references and index.

Machine generated contents note: pt. ONE BASICS OF DYNAMICS AND CONTROL 1.Dynamics of Electromechanical Systems 1.1.Basic Quantities 1.1.1.Elements and Basic Quantities in Mechanical Systems 1.1.2.Elements and Basic Quantities in Electric Systems 1.2.Fundamental Concepts of Mechanical Systems 1.2.1.The Principle of Least Action 1.2.2.Dynamics 1.2.3.Nonpotential and Dissipative Forces 1.2.4.Equations of Motion 1.2.5.Properties of Equations of Motion 1.2.6.Operational Space Dynamics 1.3.Electric and Electromechanical Systems 1.3.1.Electrical Systems 1.3.2.Electromechanical Systems 1.3.3.Electrical Machines References Further Reading 2.Control System Design 2.1.Basic Concepts 2.1.1.Basic Forms in Control Systems 2.1.2.Basic Relations 2.1.3.Stability 2.1.4.Sensitivity Function 2.1.5.External Inputs 2.2.State Space Representation 2.2.1.State Feedback 2.2.2.Stability 2.2.3.Observers Contents note continued: 2.2.4.Systems with Observers 2.2.5.Disturbance Estimation 2.3.Dynamic Systems with Finite Time Convergence 2.3.1.Equivalent Control and Equations of Motion 2.3.2.Existence and Stability 2.3.3.Design 2.3.4.Control in Linear Systems 2.3.5.Sliding Mode Based Observers pt. TWO ISSUES IN MOTION CONTROL 3.Acceleration Control 3.1.Plant 3.2.Acceleration Control 3.2.1.Formulation of Control Tasks 3.2.2.Equivalent Acceleration and Equivalent Force 3.3.Enforcing Convergence and Stability 3.3.1.Convergence for Bounded Control Input 3.3.2.Systems with Finite-Time Convergence 3.3.3.Equations of Motion 3.3.4.General Structure of Acceleration Control 3.4.Trajectory Tracking 4.Disturbance Observers 4.1.Disturbance Model Based Observers 4.1.1.Velocity Based Disturbance Observer 4.1.2.Position Based Disturbance Observer Contents note continued: 4.2.Closed Loop Disturbance Observers 4.2.1.Internal and External Forces Observers 4.3.Observer for Plant with Actuator 4.3.1.Plant with Neglected Dynamics of Current Control Loop 4.3.2.Plant with Dynamics in Current Control Loop 4.4.Estimation of Equivalent Force and Equivalent Acceleration 4.5.Functional Observers 4.6.Dynamics of Plant with Disturbance Observer 4.6.1.Disturbance Estimation Error 4.6.2.Dynamics of Plant With Disturbance Observer 4.7.Properties of Measurement Noise Rejection 4.8.Control of Compensated Plant 4.8.1.Application of Estimated Teq and qeq 5.Interactions and Constraints 5.1.Interaction Force Control 5.1.1.Proportional Controller and Velocity Feedback 5.1.2.Environment with Losses 5.1.3.Lossless Environment 5.1.4.Control of Push Pull Force 5.2.Constrained Motion Control 5.2.1.Modification of Reference Contents note continued: 5.2.2.Modification by Acting on Equivalent Acceleration 5.2.3.Motion Modification while Keeping Desired Force Profile 5.2.4.Impedance Control 5.2.5.Force Driven Systems 5.2.6.Position and Force Control in Acceleration Dimension 5.3.Interactions in Functionally Related Systems 5.3.1.Grasp Force Control 5.3.2.Functionally Related Systems 6.Bilateral Control Systems 6.1.Bilateral Control without Scaling 6.1.1.Bilateral Control Design 6.1.2.Control in Systems with Scaling in Position and Force 6.2.Bilateral Control Systems in Acceleration Dimension 6.3.Bilateral Systems with Communication Delay 6.3.1.Delay in Measurement Channel 6.3.2.Delay in Measurement and Control Channels 6.3.3.Closed Loop Behavior of System with Observer 6.3.4.Bilateral Control in Systems with Communication Delay pt. THREE MULTIBODY SYSTEMS Contents note continued: 7.Configuration Space Control 7.1.Independent Joint Control 7.2.Vector Control in Configuration Space 7.2.1.Selection of Desired Acceleration 7.3.Constraints in Configuration Space 7.3.1.Enforcement of Constraints by Part of Configuration Variables 7.4.Hard Constraints in Configuration Space 8.Operational Space Dynamics and Control 8.1.Operational Space Dynamics 8.1.1.Dynamics of Nonredundant Tasks 8.1.2.Dynamics of Redundant Tasks 8.2.Operational Space Control 8.2.1.Nonredundant Task Control 8.2.2.Redundant Task Control 9.Interactions in Operational Space 9.1.Task-Constraint Relationship 9.2.Force Control 9.3.Impedance Control 9.4.Hierarchy of Tasks 9.4.1.Constraints in Operational Space 9.4.2.Enforcing the Hierarchy of Tasks 9.4.3.Selection of Configuration Space Desired Acceleration Further Reading.

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Presents a unified approach to the fundamental issues in motion control, starting from the basics and moving through single degree of freedom and multi-degree of freedom systems In Motion Control Systems, Šabanovic and Ohnishi present a unified approach to very diverse issues covered in motion control systems, offering know-how accumulated through work on very diverse problems into a comprehensive, integrated approach suitable for application in high demanding high-tech products. It covers material from single degree of freedom systems to complex multi-body non-redundant and redundant systems. The discussion of the main subject is based on original research results and will give treatment of the issues in motion control in the framework of the acceleration control method with disturbance rejection technique. This allows consistent unification of different issues in motion control ranging from simple trajectory tracking to topics related to haptics and bilateral control without and with delay in the measurement and control channels. Šabanovic and Ohnishi offer a gradual passage from the simplest single degree of freedom systems to most complicated task control in redundant multi-body systems. The salient properties of the control approach can be grasped in a full extent, and the control of multi-body systems becomes a natural extension of the single degree of freedom systems and can be easily followed. Goes beyond component level of most existing books and introduces systemic, fundamental issues with diverse application Offers graduated increase in complexity through the book, with reinforcement in subsequent chapters Explains the fundamentals through implementation examples, with illustrations in MATLAB/SIMULINK or with experimental results Gives newcomers solid grounding in modeling and control Based on classroom tested materials and the authors' original research work Written by the leading researchers in sliding mode control (SMC) and disturbance observer (DOB) Lecture notes on the companion website for instructors to download Simulink and MATLAB code for readers to download--Provided by publisher.;The discussion of the main subject is based on original research results and will give treatment of the issues in motion control in the framework of the acceleration control method with disturbance rejection technique--Provided by publisher.

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