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作者 Hackl, Christoph M., author
書名 Non-identifier based adaptive control in mechatronics : theory and application / by Christoph M. Hackl
出版項 Cham : Springer International Publishing : Imprint: Springer, 2017
國際標準書號 9783319550367 (electronic bk.)
9783319550343 (paper)
國際標準號碼 10.1007/978-3-319-55036-7 doi
book jacket
說明 1 online resource (xxi, 652 pages) : illustrations (some color), digital ; 24 cm
text txt rdacontent
computer c rdamedia
online resource cr rdacarrier
text file PDF rda
系列 Lecture notes in control and information sciences, 0170-8643 ; volume 466
Lecture notes in control and information sciences ; volume 466
附註 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
Host Item Springer eBooks
主題 Adaptive control systems
Mechatronics -- Control
Engineering
Control
Robotics and Automation
Mechatronics
Systems Theory, Control
Alt Author SpringerLink (Online service)
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