Non-identifier Based Adaptive Control in Mechatronics

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

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

Inhalt
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.