This book provides readers with alternative robust approaches to control design for an
important class of systems characteristically associated with ocean-going vessels and
structures. These systems which include crane vessels on-board cranes radar gimbals and a
conductivity temperature and depth winch are modelled as manipulators with oscillating bases.
One design approach is based on the H-infinity control framework exploiting an effective
combination of PD control an extended matrix polytope and a robust stability analysis method
with a state-dependent coefficient form. The other is based on sliding-mode control using some
novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be
achieved by suppressing base oscillations and in the presence of uncertainties. This is
important not only for ocean engineering systems in which the problems addressed here originate
but more generally as a benchmark platform for robust motion control with disturbance
rejection. Researchers interested in the robust control of mechanical systems operating on
unstable bases will find this monograph valuable. MATLAB® and Simulink® programs are available
for download to make the methods described in the text easier to understand and to allow
readers to experience practical procedures at first hand.
