Asif Sabanovic & Kouhei Ohnishi 
Motion Control Systems [EPUB ebook] 

Motion Control Systems is concerned with design methods that
support the never-ending requirements for faster and more accurate
control of mechanical motion. The book presents material that is
fundamental, yet at the same time discusses the solution of complex
problems in motion control systems. Methods presented in the book
are based on the authors’ original research results. Mathematical
complexities are kept to a required minimum so that practicing
engineers as well as students with a limited background in control
may use the book. It is unique in presenting know-how accumulated
through work on very diverse problems into a comprehensive unified
approach suitable for application in high demanding, high-tech
products. Major issues covered include motion control ranging from
simple trajectory tracking and force control, to topics related to
haptics, bilateral control with and without delay in measurement
and control channels, as well as control of nonredundant and
redundant multibody systems.

* Provides a consistent unified theoretical framework for motion
control design

* Offers graduated increase in complexity and reinforcement
throughout the book

* Gives detailed explanation of underlying similarities and
specifics in motion control

* Unified treatment of single degree-of-freedom and multibody
systems

* Explains the fundamentals through implementation examples

* 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)

* Accompanying lecture notes for instructors

* Simulink and MATLAB® codes available for readers to
download

Motion Control Systemsis an ideal textbook for a course
on motion control or as a reference for post-graduates and
researchers in robotics and mechatronics. Researchers and
practicing engineers will also find the techniques helpful in
designing mechanical motion systems.

Tabella dei contenuti

Preface.

About the Authors.

PART ONE – BASICS OF DYNAMICS AND CONTROL.

1 Dynamics of Electromechanical Systems.

1.1 Basic Quantities.

1.2 Fundamental Concepts of Mechanical Systems.

1.3 Electric and Electromechanical Systems.

References.

Further Reading.

2 Control System Design.

2.1 Basic Concepts.

2.2 State Space Representation.

2.3 Dynamic Systems with Finite Time Convergence.

References.

Further Reading.

PART TWO – ISSUES IN MOTION CONTROL.

3 Acceleration Control.

3.1 Plant.

3.2 Acceleration Control.

3.3 Enforcing Convergence and Stability.

3.4 Trajectory Tracking.

References.

Further Reading.

4 Disturbance Observers.

4.1 Disturbance Model Based Observers.

4.2 Closed Loop Disturbance Observers.

4.3 Observer for Plant with Actuator.

4.4 Estimation of Equivalent Force and Equivalent Acceleration.

4.5 Functional Observers.

4.6 Dynamics of Plant with Disturbance Observer.

4.7 Properties of Measurement Noise Rejection.

4.8 Control of Compensated Plant.

References.

Further Reading.

5 Interactions and Constraints.

5.1 Interaction Force Control.

5.2 Constrained Motion Control.

5.3 Interactions in Functionally Related Systems.

References.

Further Reading.

6 Bilateral Control Systems.

6.1 Bilateral Control without Scaling.

6.2 Bilateral Control Systems in Acceleration Dimension.

6.3 Bilateral Systems with Communication Delay.

References.

Further Reading.

PART THREE – MULTIBODY SYSTEMS.

7 Configuration Space Control.

7.1 Independent Joint Control.

7.2 Vector Control in Configuration Space.

7.3 Constraints in Configuration Space.

7.4 Hard Constraints in Configuration Space.

References.

Further Reading.

8 Operational Space Dynamics and Control.

8.1 Operational Space Dynamics.

8.2 Operational Space Control.

References.

Further Reading.

9 Interactions in Operational Space.

9.1 Task-Constraint Relationship.

9.2 Force Control.

9.3 Impedance Control.

9.4 Hierarchy of Tasks.

References.

Further Reading.

Index.

Circa l’autore

Asif Sabanovic is a Professor of Engineering and
Natural Sciences at Sabanci University. Previously he has been with
University of Sarajevo, Caltech, Keio University and Yamaguchi
University. He was also Head of CAD/CAM and Robotics Department at
Tubitak – MAM, Turkey. Sabanovic has received Best Paper
Awards from the IEEE, and his major fields of interest include
power electronics, sliding mode control, motion control and
mechatronics. He received a BS, MS, and Ph D in Electrical
Engineering from the University of Sarajevo, Bosnia and
Herzegovina.

Kouhei Ohnishi a Professor of Systems Design Engineering
at Keio University. His research interests include power
electronics, mechatronics, motion control and haptics. Ohnishi
received Best Paper Awards from the Institute of Electrical
Engineers of Japan and the Japan Society for Precision Engineering.
He also received Dr.-Ing. Eugene Mittelmann Achievement Award from
the IEEE Industrial Electronics Society in 2004. Ohnishi holds a
BE, ME, and Ph D in Electrical Engineering from the University of
Tokyo.