7. Adaptive Motion Planning

The design of an adaptive servo controller for tracking variable references in a distributed collector solar field is addressed. The structure proposed is made of three main blocks that consist of a motion planner, an incremental controller, and an adaptation mechanism. The motion planner selects the time profile of the manipulated variable (fluid flow) such that the plant state (given by the fluid temperature distribution along the solar field) is driven between successive equilibrium states, as specified. This task is performed using a simplified distributed parameter model, and employs the methods of flat systems and the concept of orbital flatness that is associated with a change of time scale, related to fluid flow. A linear controller stabilizes the actual fluid temperature around this nominal path and compensates for model mismatches and unaccounted disturbances. A control Lyapunov function is then used to modify this control law so as to incorporate adaptation capabilities through the adjustment of a parameter. In this chapter, the motion planning problem is also solved for a moisture control system.