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Robust Servo Control for Planer Manipulators

Robust Servo Control for Planer Manipulators

SangMin Suh

60,25 €
IVA incluido
Disponible
Editorial:
KS OmniScriptum Publishing
Año de edición:
2008
Materia
Ingeniería: general
ISBN:
9783639048698
60,25 €
IVA incluido
Disponible

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Sobre IBD

This book deals with system identification, controller design and analysis of the designed closed loop systems for one and two links planar manipulators. As typical manipulators, single stage and dual stage actuators of data storage systems are considered. Goals of the control are to obtain satisfactory time and frequency responses in the presence of plant uncertainties. In case of one link planer manipulator, a state-space disturbance observer for frequency response improve­ment and gain/phase stabilization methods for reducing flexible mode of the plant are developed. In case of a two links planer manipulator, a dual feedback control structure for controlling relative contributions in frequency domain and decoupling control for diminishing coupled dynamics in time domain are designed. Practical implementations veri­fy effectiveness of the theoretical approaches.

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