Motion Control Systems

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.

Motion Control Systems is concerned with design methods thatsupport the never-ending requirements for faster and more accuratecontrol of mechanical motion. The book presents material that isfundamental, yet at the same time discusses the solution of complexproblems in motion control systems. Methods presented in the bookare based on the authors' original research results. Mathematicalcomplexities are kept to a required minimum so that practicingengineers as well as students with a limited background in controlmay use the book. It is unique in presenting know-how accumulatedthrough work on very diverse problems into a comprehensive unifiedapproach suitable for application in high demanding, high-techproducts. Major issues covered include motion control ranging fromsimple trajectory tracking and force control, to topics related tohaptics, bilateral control with and without delay in measurementand control channels, as well as control of nonredundant andredundant multibody systems.* Provides a consistent unified theoretical framework for motioncontrol design* Offers graduated increase in complexity and reinforcementthroughout the book* Gives detailed explanation of underlying similarities andspecifics in motion control* Unified treatment of single degree-of-freedom and multibodysystems* Explains the fundamentals through implementation examples* Based on classroom-tested materials and the authors' originalresearch 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 todownloadMotion Control Systemsis an ideal textbook for a courseon motion control or as a reference for post-graduates andresearchers in robotics and mechatronics. Researchers andpracticing engineers will also find the techniques helpful indesigning mechanical motion systems.

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.