Robust nonlinear tracking control based on differential flatness:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Düsseldorf
VDI-Verl.
2003
|
| Ausgabe: | Als Ms. gedr. |
| Schriftenreihe: | Fortschritt-Berichte VDI
Reihe 8, Meß-, Steuerungs- und Regelungstechnik ; 978 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | XII, 115 S. Ill., graph. Darst. : 21 cm |
| ISBN: | 3183978083 |
Internformat
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| 245 | 1 | 0 | |a Robust nonlinear tracking control based on differential flatness |c Veit Hagenmeyer |
| 250 | |a Als Ms. gedr. | ||
| 264 | 1 | |a Düsseldorf |b VDI-Verl. |c 2003 | |
| 300 | |a XII, 115 S. |b Ill., graph. Darst. : 21 cm | ||
| 336 | |b txt |2 rdacontent | ||
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Datensatz im Suchindex
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| adam_text |
CONTENTS
1
INTRODUCTION
1
2
EXACT
FEEDFORWARD
LINEARISATION
BASED
ON
DIFFERENTIAL
FLATNESS:
THE
SINGLE
INPUT
CASE
7
2.1
INTRODUCTION
.
7
2.2
EXACT
FEEDFORWARD
LINEARISATION
BASED
ON
DIFFERENTIAL
FLATNESS
.
8
2.3
EXACT
FEEDFORWARD
LINEARISATION
AND
CONTROL
LAW
DESIGN
.
11
2.4
STRUCTURE
OF
THE
ERROR
EQUATION
.
12
2.5
EXTENDED
PID
CONTROL
.
13
2.6
STABILITY
.
13
2.7
A
MAGNETIC
LEVITATION
EXAMPLE
.
16
2.8
CONCLUSION
.
20
3
EXACT
FEEDFORWARD
LINEARISATION
BASED
ON
DIFFERENTIAL
FLATNESS:
THE
MULTIPLE
INPUT
CASE
22
3.1
INTRODUCTION
.
22
3.2
EXACT
FEEDFORWARD
LINEARISATION
BASED
ON
DIFFERENTIAL
FLATNESS
.
23
3.3
EXACT
FEEDFORWARD
LINEARISATION
AND
CONTROL
LAW
DESIGN
.
27
3.4
STRUCTURE
OF
THE
ERROR
EQUATION
.
28
3.5
EXTENDED
PID
CONTROL
.
29
3.6
STABILITY
.
30
3.7
A
SEPARATELY
EXCITED
DC
DRIVE
EXAMPLE
.
32
3.8
AN
ACADEMIC
EXAMPLE
.
37
3.9
CONCLUSION
.
41
4
PARAMETRIC
ROBUSTNESS
OF
EXACT
FEEDBACK
LINEARISATION
AND
EXACT
FEEDFORWARD
LINEARISATION
43
4.1
INTRODUCTION
.
43
4.2
PARAMETRIC
UNCERTAINTY
AND
EXACT
FEEDFORWARD
LINEARISATION
.
44
4.3
EXACT
FEEDFORWARD
LINEARISATION
AND
CONTROL
LAW
DESIGN
IN
THE
NOMINAL
CASE
.
48
VI
CONTENTS
4.4
THE
ERROR
EQUATION
OF
EXACT
FEEDFORWARD
LINEARISATION
UNDER
PARAMETRIC
UNCERTAINTY
51
4.5
EXACT
FEEDBACK
LINEARISATION
UNDER
PARAMETRIC
UNCERTAINTY
.
53
4.6
ROBUSTNESS
ANALYSIS
.
56
4.7
A
MAGNETIC
LEVITATION
EXAMPLE
(CONTINUED)
.
60
4.7.1
SIMULATION
RESULTS
AND
ROBUSTNESS
ANALYSIS
.
60
4.7.2
EXPERIMENTAL
RESULTS
.
62
4.8
CONCLUSION
.
64
5
ROBUSTNESS
OF
EXACT
FEEDFORWARD
LINEARISATION:
THE
EXOGENOUS
PERTURBATION
CASE
70
5.1
INTRODUCTION
.
70
5.2
EXOGENOUS
PERTURBATIONS
AND
EXACT
FEEDFORWARD
LINEARISATION
.
71
5.3
EXACT
FEEDFORWARD
LINEARISATION
AND
CONTROL
LAW
DESIGN
IN
THE
NOMINAL
CASE
.
75
5.4
THE
ERROR
EQUATION
OF
EXACT
FEEDFORWARD
LINEARISATION
UNDER
EXOGENOUS
PERTURBATIONS
76
5.5
ROBUSTNESS
ANALYSIS
.
78
5.6
A
SEPARATELY
EXCITED
DC
DRIVE
EXAMPLE
(CONTINUED)
.
81
5.7
CONCLUSION
.
81
6
CONCLUSION
82
A
THE
BRUNOVSKY
STATE
84
B
A
STABILITY
RESULT
BY
KELEMEN
85
C
ROBUSTNESS
METHODS
FOR
CHARACTERISTICAL
POLYNOMIALS
CONTAINING
INTERVAL
PA
RAMETERS
88
C.L
KHARITONOV
'
S
THEOREM
.
88
C.2
THE
THEOREM
BY
FRAZER
AND
DUNCAN
.
89
C.3
NUMERICAL
METHODS
.
90
D
NONLINEAR
FLATNESS
BASED
PREDICTIVE
CONTROL
(NFBPC)
92
D.L
INTRODUCTION
.
92
D.2
PROBLEM
STATEMENT
.
94
D.3
A
USEFUL
BLOCK
DIAGRAM
.
95
D.3.1
PI
AND
PID
CONTROLLERS
.
95
D.3.2
LINEAR
AND
NONLINEAR
MBPC
METHODS
.
96
D.3.3
ONLINE
AND
OFF-LINE
TRAJECTORY
GENERATION
METHODS
.
99
D.4
OUR
NONLINEAR
MBPC
FRAMEWORK
.
99
D.4.1
PI
CONTROLLERS
.
101
D.4.2
PREDICTED
INPUT
TRAJECTORIES
IN
THIS
FRAMEWORK
.
101
CONTENTS
VII
D.5
MODELLING
FOR
CONTROLLER
DESIGN
.
102
D.5.1
TYPES
OF
SYSTEM
MODELS
.
102
D.5.
2
GENERATION
OF
PREDICTED
SYSTEM
TRAJECTORIES
.
103
D.6
NONLINEAR
FLATNESS-BASED
PREDICTIVE
CONTROL
.
106
D.7
CONCLUSION
.
106
E
PUBLISHED
ARTICLES
107
BIBLIOGRAPHY
108 |
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| author_facet | Hagenmeyer, Veit |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | Als Ms. gedr. |
| format | Thesis Book |
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| genre_facet | Hochschulschrift |
| id | DE-604.BV017324291 |
| illustrated | Illustrated |
| indexdate | 2025-01-14T09:01:01Z |
| institution | BVB |
| isbn | 3183978083 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-010442117 |
| oclc_num | 55148548 |
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| owner_facet | DE-210 DE-634 DE-29T DE-83 DE-384 |
| physical | XII, 115 S. Ill., graph. Darst. : 21 cm |
| publishDate | 2003 |
| publishDateSearch | 2003 |
| publishDateSort | 2003 |
| publisher | VDI-Verl. |
| record_format | marc |
| series | Fortschritt-Berichte VDI |
| series2 | Fortschritt-Berichte VDI : Reihe 8, Meß-, Steuerungs- und Regelungstechnik |
| spelling | Hagenmeyer, Veit Verfasser aut Robust nonlinear tracking control based on differential flatness Veit Hagenmeyer Als Ms. gedr. Düsseldorf VDI-Verl. 2003 XII, 115 S. Ill., graph. Darst. : 21 cm txt rdacontent n rdamedia nc rdacarrier Fortschritt-Berichte VDI : Reihe 8, Meß-, Steuerungs- und Regelungstechnik 978 Zugl.: Paris, Univ., Diss., 2002 Störgrößenaufschaltung (DE-588)4465428-5 gnd rswk-swf Robustheit (DE-588)4126481-2 gnd rswk-swf Folgeregelung (DE-588)4398913-5 gnd rswk-swf Linearisierung (DE-588)4199872-8 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Folgeregelung (DE-588)4398913-5 s Störgrößenaufschaltung (DE-588)4465428-5 s Linearisierung (DE-588)4199872-8 s Robustheit (DE-588)4126481-2 s DE-604 Fortschritt-Berichte VDI Reihe 8, Meß-, Steuerungs- und Regelungstechnik ; 978 (DE-604)BV000882482 978 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010442117&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Hagenmeyer, Veit Robust nonlinear tracking control based on differential flatness Fortschritt-Berichte VDI Störgrößenaufschaltung (DE-588)4465428-5 gnd Robustheit (DE-588)4126481-2 gnd Folgeregelung (DE-588)4398913-5 gnd Linearisierung (DE-588)4199872-8 gnd |
| subject_GND | (DE-588)4465428-5 (DE-588)4126481-2 (DE-588)4398913-5 (DE-588)4199872-8 (DE-588)4113937-9 |
| title | Robust nonlinear tracking control based on differential flatness |
| title_auth | Robust nonlinear tracking control based on differential flatness |
| title_exact_search | Robust nonlinear tracking control based on differential flatness |
| title_full | Robust nonlinear tracking control based on differential flatness Veit Hagenmeyer |
| title_fullStr | Robust nonlinear tracking control based on differential flatness Veit Hagenmeyer |
| title_full_unstemmed | Robust nonlinear tracking control based on differential flatness Veit Hagenmeyer |
| title_short | Robust nonlinear tracking control based on differential flatness |
| title_sort | robust nonlinear tracking control based on differential flatness |
| topic | Störgrößenaufschaltung (DE-588)4465428-5 gnd Robustheit (DE-588)4126481-2 gnd Folgeregelung (DE-588)4398913-5 gnd Linearisierung (DE-588)4199872-8 gnd |
| topic_facet | Störgrößenaufschaltung Robustheit Folgeregelung Linearisierung Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=010442117&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV000882482 |
| work_keys_str_mv | AT hagenmeyerveit robustnonlineartrackingcontrolbasedondifferentialflatness |