Non-identifier Based Adaptive Control in Mechatronics (häftad)
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Format
Häftad (Paperback / softback)
Språk
Engelska
Antal sidor
652
Utgivningsdatum
2018-07-28
Upplaga
Softcover reprint of the original 1st ed. 2017
Förlag
Springer International Publishing AG
Illustrationer
147 Illustrations, color; 25 Illustrations, black and white; XXI, 652 p. 172 illus., 147 illus. in c
Dimensioner
234 x 156 x 35 mm
Vikt
931 g
Antal komponenter
1
Komponenter
1 Paperback / softback
ISBN
9783319855493

Non-identifier Based Adaptive Control in Mechatronics

Theory and Application

av Christoph M Hackl
Häftad,  Engelska, 2018-07-28
2499
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This book introduces non-identifier-based adaptive control (with and without internal model) and its application to the current, speed and position control of mechatronic systems such as electrical synchronous machines, wind turbine systems, industrial servo systems, and rigid-link, revolute-joint robots. In mechatronics, there is often only rough knowledge of the system. Due to parameter uncertainties, nonlinearities and unknown disturbances, model-based control strategies can reach their performance or stability limits without iterative controller design and performance evaluation, or system identification and parameter estimation. The non-identifier-based adaptive control presented is an alternative that neither identifies the system nor estimates its parameters but ensures stability. The adaptive controllers are easy to implement, compensate for disturbances and are inherently robust to parameter uncertainties and nonlinearities. For controller implementation only structural system knowledge (like relative degree, input-to-state stable zero dynamics and known sign of the high-frequency gain) is required. Moreover, the presented controllers guarantee reference tracking with prescribed asymptotic or transient accuracy, i.e. the tracking error eventually tends to or for all time evolves within an a priori specified region. The book presents the theory, modeling and application in a general but detailed and self-contained manner, making it easy to read and understand, particularly for newcomers to the topics covered
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Innehållsförteckning

Motivation and outline.- Brief historical overview of control systems, mechatronics and motion control.- Problem statement for mechatronic systems.- Contributions of this book.- Mathematical preliminaries.- High-gain adaptive stabilization.- High-gain adaptive tracking with internal model.- Adaptive -tracking control.- Funnel control.- Joint position control of rigid-link revolute-joint robotic manipulator.- Conclusion.- Problems and solutions.

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