Motion Control Systems (eBook)

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 PhD 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 PhD in Electrical Engineering from the University of Tokyo.

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.