Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems

2004
ISBN: 978-3-540-22077-0
Verlag: Springer Berlin Heidelberg

Buch, Englisch, Band 307, 146 Seiten, Format (B × H): 155 mm x 235 mm, Gewicht: 260 g

Reihe: Lecture Notes in Control and Information Sciences

This monograph investigates a practical way to achieve robust motion control and state estimation (Kalman filtering) of mechanical systems, which is a promising approach in terms of the perturbation compensator. The book presents novel approaches for design and analysis of perturbation observers as well as an extension to robust motion control and robust state estimation. The book is written in a self-contained manner including experimental results in each chapter clearly validating the developed theories.

Zielgruppe

Research

Autoren/Hrsg.

Chung, Wan Kyun

Kwon, SangJoo

Fachgebiete

• Mathematik | Informatik Mathematik Numerik und Wissenschaftliches Rechnen Angewandte Mathematik, Mathematische Modelle
• Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
• Technische Wissenschaften Energietechnik | Elektrotechnik Elektrotechnik
• Technische Wissenschaften Maschinenbau | Werkstoffkunde Technische Mechanik | Werkstoffkunde Statik, Dynamik, Kinetik, Kinematik

Inhaltsverzeichnis

Introduction.- Robust Tracking Control with Hierarchical Perturbation Compensation.- Robust Performance of the Multiloop Perturbation Compensator.- Discrete-Time Design and Analysis of Perturbation Observer.- Combined Observer Design for Robust State Estimation and Kalman Filtering.- Control of Coarse/Fine Dual-Stage Positioning System.- Concluding Remarks.