Overview
- fer insights, in particular for newcomers to high-gain adaptive control
- Describes internal model design with and without anti-windup
- Addresses current, speed and position control of the considered mechatronic systems
- Includes several measurement results of the mechatronic applications as well as a collection of problems and solutions
- Discusses the theory and application of non-identifier based adaptive control with and without internal model(s) to electric machines, wind turbine systems, rigid-link revolute-joint robotic manipulators, and industrial-servo systems
- Describes non-identifier adaptive controllers,which are developed in a general but detailed and self-contained manner to improve readability and of
- Includes supplementary material: sn.pub/extras
Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 466)
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Table of contents (21 chapters)
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Front Matter
Keywords
About this book
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
Authors and Affiliations
Bibliographic Information
Book Title: Non-identifier Based Adaptive Control in Mechatronics
Book Subtitle: Theory and Application
Authors: Christoph M. Hackl
Series Title: Lecture Notes in Control and Information Sciences
DOI: https://doi.org/10.1007/978-3-319-55036-7
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer International Publishing AG 2017
Hardcover ISBN: 978-3-319-55034-3Published: 17 May 2017
Softcover ISBN: 978-3-319-85549-3Published: 28 July 2018
eBook ISBN: 978-3-319-55036-7Published: 16 May 2017
Series ISSN: 0170-8643
Series E-ISSN: 1610-7411
Edition Number: 1
Number of Pages: XXI, 652
Number of Illustrations: 25 b/w illustrations, 147 illustrations in colour
Topics: Control and Systems Theory, Robotics and Automation, Mechatronics, Systems Theory, Control