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Über dieses Buch

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

Inhaltsverzeichnis

Frontmatter

Introduction

Frontmatter

Chapter 1. Motivation and Outline

Abstract
Many mechatronic applications in industry require motion control (i.e. position and/or speed control) of working machines such as the CNC.
Christoph M. Hackl

Chapter 2. Brief Historical Overview of Control Systems, Mechatronics and Motion Control

Abstract
The following Sects. 2.1 and 2.2 revisit notion and history of “feedback control”, “adaptive control”, “mechatronics” and “motion control” to provide some background on the evolution of control systems and mechatronic systems over the last centuries and decades.
Christoph M. Hackl

Chapter 3. Problem Statement for Mechatronic Systems

Abstract
The available standard control concepts in mechatronics work acceptably well.
Christoph M. Hackl

Chapter 4. Contributions of this Book

Abstract
The generalized non-identifier based adaptive control problem is solved for systems of class \(\mathcal {S}_1^{{{\mathrm{sat}}}}\) and \(\mathcal {S}_2^{{{\mathrm{sat}}}}\) (see Definitions 3.​2 and 3.​3, respectively).
Christoph M. Hackl

Theory

Frontmatter

Chapter 5. Mathematical Preliminaries

Abstract
To ease readability and minimize the need of external references, this chapter introduces all required mathematical preliminaries for the later analysis.
Christoph M. Hackl

Chapter 6. High-Gain Adaptive Stabilization

Abstract
This chapter presents the basic idea of classical high-gain adaptive stabilization (or high-gain adaptive control) of linear time-invariant (LTI) single-input single-output (SISO) systems. LTI SISO systems of form (5.88) with direct feedthrough (i.e. \(d\ne 0\)) are of marginal relevance for plant modeling in mechatronics.
Christoph M. Hackl

Chapter 7. High-Gain Adaptive Tracking with Internal Model

Abstract
This chapter introduces high-gain adaptive tracking with “internal models” [343] for systems of class \(\mathcal {S}_1^{{{\mathrm{lin}}}}\) and \(\mathcal {S}_2^{{{\mathrm{lin}}}}\).
Christoph M. Hackl

Chapter 8. Adaptive -Tracking Control

Abstract
This chapter introduces adaptive \(\lambda \)-tracking control for minimum-phase systems with relative degree one (see Definition 8.1 of class \(\mathcal {S}_1\)) and with relative degree two (see Definition 8.8 of class \(\mathcal {S}_2\)). The considered systems have a known sign of the high-frequency gain and are subject to nonlinear but sector-bounded functional perturbations.
Christoph M. Hackl

Chapter 9. Funnel Control

Abstract
In this chapter, funnel control will be introduced for systems of class \(\mathcal {S}_1\) and of class \(\mathcal {S}_2\) and their respective extensions to systems with input saturation and exponentially bounded perturbation (see Definitions 9.2 and 9.13 of system classes \(\mathcal {S}_1^{{{\mathrm{sat}}}}\) and \(\mathcal {S}_2^{{{\mathrm{sat}}}}\), respectively).
Christoph M. Hackl

Chapter 10. Non-identifier Based Adaptive Control with Internal Model

Abstract
The adaptive \(\lambda \)-tracking controllers in Chap. 8 achieve tracking with asymptotic accuracy.
Christoph M. Hackl

Application

Frontmatter

Chapter 11. Speed and Position Control of Industrial Servo-Systems

Abstract
In the following chapter, the non-identifier based adaptive speed and position control problem (as introduced in Sect. 3.​1) will be solved for industrial servo-systems with stiff and elastic coupling, respectively.
Christoph M. Hackl

Chapter 12. Speed Control of Wind Turbine Systems

Abstract
In this chapter, speed funnel control of wind turbine systems (WTSs) is discussed. It is shown that the mechanical dynamics of WTSs with stiff or elastic drive train including the nonlinear state-dependent aerodynamic torque are minimum-phase, have relative degree one and known sign of the high-frequency gain if the machine-side angular velocity is available for feedback.
Christoph M. Hackl

Chapter 13. Joint Position Control of Rigid-Link Revolute-Joint Robotic Manipulators

Abstract
Robotic manipulators are used for a variety of tasks in assembly, automation, manipulation in hazardous environments or minimally invasive surgery.
Christoph M. Hackl

Chapter 14. Current Control of Electric Synchronous Machines

Abstract
In this chapter, the non-identifier based adaptive current control problem is solved for electric synchronous machines.
Christoph M. Hackl

Conclusion

Frontmatter

Chapter 15. Summary

Abstract
Non-identifier based adaptive control and possible applications—such as speed, position and current control of mechatronic systems—were discussed.
Christoph M. Hackl

Chapter 16. Future Work

Abstract
Concluding, in this monograph, the non-identifier based adaptive control problem of relative-degree-one and relative-degree-two systems has been thoroughly investigated.
Christoph M. Hackl

Problems and Solutions

Frontmatter

Chapter 17. Function Properties and Function Spaces

Abstract
Function Properties and Function Spaces
Christoph M. Hackl

Chapter 18. Existence and Uniqueness of Solutions

Abstract
Existence and uniqueness of solutions.
Christoph M. Hackl

Chapter 19. System Properties

Abstract
System Properties.
Christoph M. Hackl

Chapter 20. Internal Model Design

Abstract
For the following reference signals.
Christoph M. Hackl

Chapter 21. Applications

Abstract
Application Examples
Christoph M. Hackl

Backmatter

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