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Informationen zum Autor Asif Šabanovic 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. Šabanovic 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. Klappentext 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 Systems is 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. Zusammenfassung 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. Inhaltsverzeichnis Preface ix About the Authors xi PART ONE - BASICS OF DYNAMICS AND CONTROL. 1 Dynamics of Electromechanical Systems 3 1.1 Basic Quantities 3 1.1.1 Elements and Basic Quantities in Mechanical Systems 3 1.1.2 Elements and Basic Quantities in Electric Systems 5 1.2 Fundamental Concepts of Mechanical Systems 7 1.2.1 The Principle of Least Action 7 1.2.2 Dynamics 8 1.2.3 Nonpotential and Dissipative Forces 9 1.2.4 Equations of Motion 10 1.2.5 Properties of Equations of ...
