Robust Servo Control for Planer Manipulators
Identification, Control and Analysis
(Sprache: Englisch)
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....
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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 atwo 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.
Autoren-Porträt von SangMin Suh
SangMin Suh, Ph. D.: Received B.S., M.S. and Ph.D. degrees at HanYang University Seoul in Republic of Korea and he was awarded Distinguished Dissertation. In 2003, he joined Samsung Electronics, as a Senior Servo Engineer. His research interests are in robust control, optimal control, decentralized control and convex optimization.
Bibliographische Angaben
- Autor: SangMin Suh
- 2008, 88 Seiten, Maße: 15,1 x 22,2 cm, Kartoniert (TB), Englisch
- Verlag: VDM Verlag Dr. Müller
- ISBN-10: 3639048695
- ISBN-13: 9783639048698
Sprache:
Englisch
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