Motion Control Systems

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.

• Preface ix About the Authors xiPART ONE – BASICS OF DYNAMICS AND CONTROL.1 Dynamics of Electromechanical Systems 31.1 Basic Quantities 31.1.1 Elements and Basic Quantities in Mechanical Systems 31.1.2 Elements and Basic Quantities in Electric Systems 51.2 Fundamental Concepts of Mechanical Systems 71.2.1 The Principle of Least Action 71.2.2 Dynamics 81.2.3 Nonpotential and Dissipative Forces 91.2.4 Equations of Motion 101.2.5 Properties of Equations of Motion 141.2.6 Operational Space Dynamics 181.3 Electric and Electromechanical Systems 201.3.1 Electrical Systems 201.3.2 Electromechanical Systems 211.3.3 Electrical Machines 242 Control System Design 292.1 Basic Concepts 302.1.1 Basic Forms in Control Systems 312.1.2 Basic Relations 352.1.3 Stability 362.1.4 Sensitivity Function 372.1.5 External Inputs 382.2 State Space Representation 392.2.1 State Feedback 402.2.2 Stability 442.2.3 Observers 452.2.4 Systems with Observers 482.2.5 Disturbance Estimation 492.3 Dynamic Systems with Finite Time Convergence 512.3.1 Equivalent Control and Equations of Motion 522.3.2 Existence and Stability 532.3.3 Design 532.3.4 Control in Linear Systems 552.3.5 Sliding Mode Based Observers 56PART TWO – ISSUES IN MOTION CONTROL.3 Acceleration Control 633.1 Plant 633.2 Acceleration Control 673.2.1 Formulation of Control Tasks 683.2.2 Equivalent Acceleration and Equivalent Force 743.3 Enforcing Convergence and Stability 853.3.1 Convergence for Bounded Control Input 903.3.2 Systems with Finite-Time Convergence 943.3.3 Equations of Motion 973.3.4 General Structure of Acceleration Control 1053.4 Trajectory Tracking 1074 Disturbance Observers 1154.1 Disturbance Model Based Observers 1184.1.1 Velocity Based Disturbance Observer 1194.1.2 Position Based Disturbance Observer 1214.2 Closed Loop Disturbance Observers 1274.2.1 Internal and External Forces Observers 1284.3 Observer for Plant with Actuator 1324.3.1 Plant with Neglected Dynamics of Current Control Loop 1334.3.2 Plant with Dynamics in Current Control Loop 1364.4 Estimation of Equivalent Force and Equivalent Acceleration 1404.5 Functional Observers 1444.6 Dynamics of Plant with Disturbance Observer 1494.6.1 Disturbance Estimation Error 1504.6.2 Dynamics of Plant With Disturbance Observer 1514.7 Properties of Measurement Noise Rejection 1604.8 Control of Compensated Plant 1644.8.1 Application of Estimated ^teq and ^€q5 Interactions and Constraints 1755.1 Interaction Force Control 1765.1.1 Proportional Controller and Velocity Feedback 1785.1.2 Environment with Losses 1825.1.3 Lossless Environment 1875.1.4 Control of Push Pull Force 1915.2 Constrained Motion Control 1935.2.1 Modification of Reference 1955.2.2 Modification by Acting on Equivalent Acceleration 2015.2.3 Motion Modification while Keeping Desired Force Profile 2055.2.4 Impedance Control 2095.2.5 Force Driven Systems 2105.2.6 Position and Force Control in Acceleration Dimension 2115.3 Interactions in Functionally Related Systems 2155.3.1 Grasp Force Control 2155.3.2 Functionally Related Systems 2256 Bilateral Control Systems 2336.1 Bilateral Control without Scaling 2346.1.1 Bilateral Control Design 2386.1.2 Control in Systems with Scaling in Position and Force 2476.2 Bilateral Control Systems in Acceleration Dimension 2516.3 Bilateral Systems with Communication Delay 2566.3.1 Delay in Measurement Channel 2576.3.2 Delay in Measurement and Control Channels 2636.3.3 Closed Loop Behavior of System with Observer 2676.3.4 Bilateral Control in Systems with Communication Delay 270PART THREE – MULTIBODY SYSTEMS.7 Configuration Space Control 2797.1 Independent Joint Control 2807.2 Vector Control in Configuration Space 2817.2.1 Selection of Desired Acceleration 2827.3 Constraints in Configuration Space 2907.3.1 Enforcement of Constraints by Part of Configuration Variables 3037.4 Hard Constraints in Configuration Space 3048 Operational Space Dynamics and Control 3138.1 Operational Space Dynamics 3148.1.1 Dynamics of Nonredundant Tasks 3148.1.2 Dynamics of Redundant Tasks 3158.2 Operational Space Control 3188.2.1 Nonredundant Task Control 3198.2.2 Redundant Task Control 3289 Interactions in Operational Space 3379.1 Task–Constraint Relationship 3379.2 Force Control 3419.3 Impedance Control 3459.4 Hierarchy of Tasks 3479.4.1 Constraints in Operational Space 3479.4.2 Enforcing the Hierarchy of Tasks 3529.4.3 Selection of Configuration Space Desired Acceleration 357References 358Further Reading 358Index 361