Contributions to high-gain adaptive control in mechatronics:
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
2012
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| Schlagworte: | |
| Online-Zugang: | https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120615-1084562-1-9 kostenfrei Inhaltsverzeichnis |
| Beschreibung: | XIII, 259 S. graph. Darst. |
Internformat
MARC
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| 245 | 1 | 0 | |a Contributions to high-gain adaptive control in mechatronics |c Christoph M. Hackl |
| 264 | 1 | |c 2012 | |
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| 502 | |a München, Techn. Univ., Diss., 2012 | ||
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| 912 | |a ebook | ||
| 999 | |a oai:aleph.bib-bvb.de:BVB01-025166600 | ||
Datensatz im Suchindex
| _version_ | 1804149334213656576 |
|---|---|
| adam_text | IMAGE 1
CONTENTS
ABSTRACT V
N O M E N C L A T U R E X I
1 INTRODUCTION 1
1.1 MOTIVATION AND GOAL 1
1.2 FEEDBACK CONTROL AND ADAPTIVE CONTROL 4
1.3 MECHATRONICS AND MOTION CONTROL 9
1.4 MODELING OF INDUSTRIAL SERVO-SYSTEMS 12
1.4.1 MICRO-PROCESSOR (REAL-TIME SYSTEM) 13
1.4.2 ELECTRICAL DRIVE (ACTUATOR) 13
1.4.3 MECHANICS (PHYSICAL SYSTEM) 15
1.4.4 SPEED AND POSITION SENSORS (INSTRUMENTATION) 16
1.4.5 FRICTION 17
1.4.6 MODELS OF STIFF AND FLEXIBLE SERVO-SYSTEMS 28
1.5 MOTION CONTROL IN INDUSTRY 32
1.5.1 STANDARD CONTROL METHODS 32
1.5.2 SPECIAL CONTROL METHODS 36
1.5.3 FRICTION IDENTIFICATION AND COMPENSATION 37
1.6 PROBLEM FORMULATION 38
1.6.1 HIGH-GAIN ADAPTIVE MOTION CONTROL PROBLEM 39
1.6.2 GENERALIZED HIGH-GAIN ADAPTIVE CONTROL PROBLEM 40
1.7 CONTRIBUTIONS OF THIS THESIS 45
2 HIGH-GAIN ADAPTIVE CONTROL 4 7
2.1 LINEAR TIME-INVARIANT SINGLE-INPUT SINGLE-OUTPUT SYSTEMS 47
2.1.1 RELATIVE DEGREE 48
2.1.2 HIGH-FREQUENCY GAIN 50
2.1.3 MINIMUM-PHASE SYSTEMS 51
2.1.4 BYRNES-ISIDORI FORM 54
2.2 MOTIVATION FOR HIGH-GAIN CONTROL: ROOT LOCUS METHOD 59
2.3 HIGH-GAIN ADAPTIVE STABILIZATION 63
2.3.1 BRIEF HISTORICAL OVERVIEW 63
2.3.2 MATHEMATICAL PRELIMINARIES 65
2.3.3 RELATIVE DEGREE ONE SYSTEMS 67
2.3.4 RELATIVE DEGREE TWO SYSTEMS 74
- V I I -
HTTP://D-NB.INFO/1026375258
IMAGE 2
C O N T E N T S
2.4 HIGH-GAIN ADAPTIVE TRACKING WITH INTERNAL MODEL 86
2.4.1 RELATIVE DEGREE ONE SYSTEMS 89
2.4.2 RELATIVE DEGREE TWO SYSTEMS 91
2.4.3 SIMULATIONS 92
3 A D A P T I V E A-TRACKING CONTROL 9 5
3.1 MOTIVATION 95
3.2 BRIEF HISTORICAL OVERVIEW 97
3.3 MATHEMATICAL PRELIMINARIES 98
3.3.1 BYRNES-ISIDORI LIKE FORM OF SYSTEMS OF CLASS SI 99
3.3.2 BYRNES-ISIDORI LIKE FORM OF SYSTEMS OF CLASS S2 99
3.3.3 SOLUTION OF FUNCTIONAL DIFFERENTIAL EQUATION 100
3.4 RELATIVE DEGREE ONE SYSTEMS 101
3.5 RELATIVE DEGREE TWO SYSTEMS 108
3.5.1 ADAPTIVE A-TRACKING CONTROLLER WITH BACKSTEPPING 108
3.5.2 ADAPTIVE A-TRACKING CONTROLLER WITH HIGH-GAIN OBSERVER I L L
3.5.3 ADAPTIVE A-TRACKING CONTROLLER WITH DERIVATIVE FEEDBACK 114
3.5.4 SIMULATIONS 124
4 FUNNEL CONTROL 129
4.1 MOTIVATION 130
4.2 BRIEF HISTORICAL OVERVIEW 131
4.3 RELATIVE DEGREE ONE SYSTEMS 132
4.3.1 PERFORMANCE FUNNEL 132
4.3.2 PROPORTIONAL CONTROLLER WITH PRESCRIBED TRANSIENT ACCURACY 134
4.3.3 FUNNEL CONTROLLER 138
4.3.4 FUNNEL CONTROLLER WITH SATURATION 147
4.4 RELATIVE DEGREE TWO SYSTEMS 150
4.4.1 FUNNEL CONTROLLER WITH BACKSTEPPING 150
4.4.2 FUNNEL CONTROLLER WITH DERIVATIVE FEEDBACK 153
4.4.3 SIMULATIONS 169
5 APPLICATIONS 175
5.1 MATHEMATICAL PRELIMINARIES 175
5.1.1 INTERNAL MODEL FOR SYSTEM CLASSES SI AND S2 176
5.1.2 FRICTION OPERATORS ELEMENT OF OPERATOR CLASS 178
5.2 SPEED AND POSITION CONTROL OF INDUSTRIAL SERVO-SYSTEMS 181
5.2.1 LABORATORY SETUP: COUPLED ELECTRICAL DRIVES 182
5.2.2 SPEED CONTROL 184
5.2.3 POSITION CONTROL 202
5.3 POSITION FUNNEL CONTROL OF RIGID REVOLUTE JOINT ROBOTIC MANIPULATORS
225
6 CONCLUSION A N D O U T L O O K 2 3 5
- V I I I -
IMAGE 3
C O N T E N T S
A P P E N D I X 2 3 9
A ABBREVIATIONS 239
B TWO SIMPLE OPERATORS OF CLASS T 241
C ROOT LOCUS CENTER OF LTI SISO SYSTEMS IN STATE SPACE 243
D TECHNICAL D A T A OF LABORATORY SETUP 245
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| indexdate | 2024-07-10T00:21:22Z |
| institution | BVB |
| language | English |
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| physical | XIII, 259 S. graph. Darst. |
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| spelling | Hackl, Christoph M. 1977- Verfasser (DE-588)1196636834 aut Contributions to high-gain adaptive control in mechatronics Christoph M. Hackl 2012 XIII, 259 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier München, Techn. Univ., Diss., 2012 (DE-588)4113937-9 Hochschulschrift gnd-content Erscheint auch als Online-Ausgabe urn:nbn:de:bvb:91-diss-20120615-1084562-1-9 https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120615-1084562-1-9 Resolving-System http://mediatum.ub.tum.de/node?id=1084562 Verlag kostenfrei Volltext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025166600&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Hackl, Christoph M. 1977- Contributions to high-gain adaptive control in mechatronics |
| subject_GND | (DE-588)4113937-9 |
| title | Contributions to high-gain adaptive control in mechatronics |
| title_auth | Contributions to high-gain adaptive control in mechatronics |
| title_exact_search | Contributions to high-gain adaptive control in mechatronics |
| title_full | Contributions to high-gain adaptive control in mechatronics Christoph M. Hackl |
| title_fullStr | Contributions to high-gain adaptive control in mechatronics Christoph M. Hackl |
| title_full_unstemmed | Contributions to high-gain adaptive control in mechatronics Christoph M. Hackl |
| title_short | Contributions to high-gain adaptive control in mechatronics |
| title_sort | contributions to high gain adaptive control in mechatronics |
| topic_facet | Hochschulschrift |
| url | https://nbn-resolving.org/urn:nbn:de:bvb:91-diss-20120615-1084562-1-9 http://mediatum.ub.tum.de/node?id=1084562 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025166600&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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