Title :
Motion control of an oscillatory-base manipulator in the global coordinates
Author :
Sato, Masato ; Toda, Masayoshi
Author_Institution :
Grad. Sch. of Marine Sci. & Technol., Tokyo Univ. of Marine Sci. & Technol., Tokyo, Japan
Abstract :
This paper presents a control design method for motion control in the global coordinates of oscillatory-base manipulators, which are associated with mechanical systems equipped with such as radars and sonars installed on vessels or oceanic structures. The proposed design method exploits linear H¿ control supported by linearization and PD control schemes. Motion control simulations demonstrate that our proposed method is successfully effective and is superior to the conventional PID control.
Keywords :
H¿ control; PD control; control system synthesis; linear systems; linearisation techniques; manipulators; motion control; oscillations; PD control; control design; global coordinates; linear H¿ control; linearization; mechanical system; motion control; oscillatory-base manipulator; Control design; Control systems; Manipulator dynamics; Mechanical systems; Motion control; Motion planning; PD control; Power system modeling; Radar; Sonar;
Conference_Titel :
Control and Automation, 2009. ICCA 2009. IEEE International Conference on
Conference_Location :
Christchurch
Print_ISBN :
978-1-4244-4706-0
Electronic_ISBN :
978-1-4244-4707-7
DOI :
10.1109/ICCA.2009.5410148
