Flatness-based control: an introduction
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Düren
Shaker Verlag
2021
|
| Schriftenreihe: | Berichte aus der Steuerungs- und Regelungstechnik
|
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Beschreibung: | vii, 163 Seiten Illustrationen 21 cm, 258 g |
| ISBN: | 9783844078930 3844078932 |
Internformat
MARC
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| 100 | 1 | |a Rudolph, Joachim |e Verfasser |0 (DE-588)1229841105 |4 aut | |
| 245 | 1 | 0 | |a Flatness-based control |b an introduction |c Joachim Rudolph |
| 264 | 1 | |a Düren |b Shaker Verlag |c 2021 | |
| 300 | |a vii, 163 Seiten |b Illustrationen |c 21 cm, 258 g | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 0 | |a Berichte aus der Steuerungs- und Regelungstechnik | |
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| 653 | |a nichtlineare Regelung | ||
| 653 | |a Nonlinear Control | ||
| 653 | |a Flatness-Based Control | ||
| 653 | |a Regelungstechnik | ||
| 689 | 0 | 0 | |a Flachheitsbasierte Folgeregelung |0 (DE-588)4743050-3 |D s |
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| 776 | 0 | 8 | |i Erscheint auch als |n Online-Ausgabe |a Rudolph, Joachim |t Flatness-Based Control |b 1. Auflage |d Düren : Shaker, 2021 |h Online-Ressource, 172 Seiten, 25 Illustrationen |
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Datensatz im Suchindex
| _version_ | 1821214258552111104 |
|---|---|
| adam_text |
CONTENTS
1
MOTIVATION
1
1.1
KINEMATIC
CAR
MOTION
.
1
1.2
CAR:
FLATNESS
BY
GEOMETRIC
CONSIDERATIONS
.
2
1.3
CAR: MODEL
EQUATIONS
.
4
1.4
CAR:
FLATNESS
IN
VIEW
OF
MODEL
EQUATIONS
.
6
1.5
CAR:
PROPERTIES
OF
A
FLAT
OUTPUT
.
7
1.6
CAR:
ABOUT
THE
TERM
*
FLATNESS
*
.
9
1.7
CAR:
FLATNESS-BASED
TRACKING
CONTROL
.
10
2
FLAT
SYSTEMS
15
2.1
SYSTEMS
.
15
2.2
FLAT
SYSTEMS
DEFINITION
.
17
2.3
NON-UNIQUENESS
OF
FLAT
OUTPUTS
.
19
2.4
EXAMPLE:
A
GANTRY
CRANE
.
22
2.4.1
CRANE:
MATHEMATICAL
MODEL
.
23
2.4.2
CRANE:
FLATNESS
.
24
2.4.3
CRANE
IN
THREE
DIMENSIONAL
SPACE
.
26
2.5
INPUTS
.
28
2.5.1
DEFINITION
OF
AN
INPUT
.
28
2.5.2
KINEMATIC
CAR:
ALTERNATIVE
INPUT
CHOICES
.
32
2.5.3
GANTRY
CRANE:
ALTERNATIVE
INPUT
CHOICES
.
33
2.6
EXAMPLE:
A
SEPARATELY-EXCITED
DC
MOTOR
.
34
2.6.1
DC
MOTOR:
MATHEMATICAL
MODEL
.
34
2.6.2
DC
MOTOR:
INPUT
CHOICE
.
35
2.6.3
DC
MOTOR:
FLATNESS
.
35
2.7
STATES
.
37
2.7.1
GANTRY
CRANE:
STATE
REPRESENTATIONS
.
37
2.7.2
DEFINITION
OF
A
STATE
.
41
2.7.3
STATE
TRANSFORMATIONS
.
46
2.7.4
FLATNESS
OF
SYSTEMS
IN
A
STATE
REPRESENTATION
.
49
2.7.5
BRUNOVSKY
STATES
AND
A
CONTROLLER
FORM
FOR
FLAT
SYSTEMS
.
50
VI
CONTENTS
2.7.6
STATE
REPRESENTATIONS:
EXAMPLES
.
54
2.7.7
FLATNESS
AND
CONTROLLABILITY
OF
THE
LINEARIZED
SYSTEM
.
56
3
FLATNESS-BASED
TRAJECTORY
PLANNING
AND
FEED-FORWARD
CONTROL
59
3.1
FLATNESS-BASED
ANALYSIS
OF
EQUILIBRIA
.
60
3.2
EXAMPLE:
CHEMICAL
REACTOR
.
61
3.2.1
CHEMICAL
REACTOR:
MATHEMATICAL
MODEL
.
61
3.2.2
CHEMICAL
REACTOR:
FLATNESS
.
62
3.2.3
CHEMICAL
REACTOR:
STATIONARY
ANALYSIS
.
63
3.2.4
CHEMICAL
REACTOR:
FLATNESS
AND
EQUILIBRIUM
POINTS
WITH
TWO
CONTROLS
.
64
3.3
TRAJECTORY
PLANNING
AND
FEED-FORWARD
CONTROL
.
66
3.3.1
TRANSITION
BETWEEN
STATIONARY
OPERATING
POINTS
.
68
3.3.2
CRANE:
TRAJECTORY
PLANNING
AND
OPEN-LOOP
CONTROL
DESIGN
.
.
70
3.3.3
DC
MOTOR:
START-UP
.
73
3.3.4
STEERING
ALONG
TRAJECTORIES
OF
QUANTITIES
NOT
BELONGING
TO
A
FLAT
OUTPUT
.
76
3.3.5
ACCOUNTING
FOR
CONSTRAINTS
.
78
3.3.6
CAR:
SETPOINT
TRANSITIONS
.
79
4
STABLE
TRACKING
BY
STATE
FEEDBACK
85
4.1
STATE
FEEDBACK
.
88
4.1.1
ENDOGENOUS
STATE
FEEDBACK
.
89
4.1.2
QUASI-STATIC
AND
STATIC
STATE
FEEDBACK
.
91
4.1.3
COMPARISON
OF
THE
FEEDBACK
CLASSES
.
92
4.2
LINEARIZATION
OF
FLAT
SYSTEMS
BY
STATE
FEEDBACK
.
94
4.3
STABILIZATION
OF
THE
TRACKING
ERROR
DYNAMICS
.
96
4.4
EXAMPLE:
PLANAR
MOTION
OF
A
VTOL
AIRCRAFT
.
99
4.4.1
VTOL:
MODEL
.
99
4.4.2
VTOL:
FLATNESS
.
100
4.4.3
VTOL:
BRUNOVSKY
STATES
.
103
4.4.4
VTOL:
QUASI-STATIC
FEEDBACK
.
105
4.4.5
VTOL:
DYNAMIC
STATE
FEEDBACK
.
107
4.5
FURTHER
EXAMPLES
FOR
TRAJECTORY
TRACKING
CONTROL
DESIGN
.
108
4.5.1
DC
MOTOR:
STATIC
FEEDBACK
.
109
4.5.2
CHEMICAL
REACTOR:
FEEDBACK
WITH
DIFFERENT
INPUTS
.
110
4.5.3
GANTRY
CRANE:
QUASI-STATIC
FEEDBACK
.
114
4.5.4
KINEMATIC
CAR:
INVARIANT
PATH
TRACKING
.
116
CONTENTSVII
5
OBSERVERS
FOR
TRAJECTORY
TRACKING
125
5.1
OBSERVER
DESIGN
.
125
5.1.1
VTOL:
OBSERVERS
.
127
5.1.2
DC
MOTOR:
OBSERVERS
.
130
5.2
TRACKING
OBSERVERS
.
132
5.2.1
TIME-VARYING
OBSERVER
GAIN
.
134
5.3
OBSERVABILITY
REQUIREMENT
.
139
5.4
OVERHEAD
CRANE:
TRACKING
OBSERVER
.
143
6
FLATNESS
CONDITIONS,
DEFECT,
AND
ORBITAL
FLATNESS
147
6.1
NECESSARY
CONDITIONS
FOR
FLATNESS
.
148
6.1.1
RULED
SURFACE
CONDITION
.
148
6.1.2
A
CHEMICAL
BATCH
REACTOR
.
150
6.1.3
A
PLANAR
DOUBLE
PENDULUM
.
151
6.2
SUFFICIENT
CONDITIONS
FOR
FLATNESS
.
153
6.3
SYSTEMS
WITH
A
SERIES
STRUCTURE
.
157
6.4
FLATNESS
DEFECT
.
160
6.5
ORBIT
ALLY
FLAT
SYSTEMS
.
161 |
| adam_txt |
CONTENTS
1
MOTIVATION
1
1.1
KINEMATIC
CAR
MOTION
.
1
1.2
CAR:
FLATNESS
BY
GEOMETRIC
CONSIDERATIONS
.
2
1.3
CAR: MODEL
EQUATIONS
.
4
1.4
CAR:
FLATNESS
IN
VIEW
OF
MODEL
EQUATIONS
.
6
1.5
CAR:
PROPERTIES
OF
A
FLAT
OUTPUT
.
7
1.6
CAR:
ABOUT
THE
TERM
*
FLATNESS
*
.
9
1.7
CAR:
FLATNESS-BASED
TRACKING
CONTROL
.
10
2
FLAT
SYSTEMS
15
2.1
SYSTEMS
.
15
2.2
FLAT
SYSTEMS
DEFINITION
.
17
2.3
NON-UNIQUENESS
OF
FLAT
OUTPUTS
.
19
2.4
EXAMPLE:
A
GANTRY
CRANE
.
22
2.4.1
CRANE:
MATHEMATICAL
MODEL
.
23
2.4.2
CRANE:
FLATNESS
.
24
2.4.3
CRANE
IN
THREE
DIMENSIONAL
SPACE
.
26
2.5
INPUTS
.
28
2.5.1
DEFINITION
OF
AN
INPUT
.
28
2.5.2
KINEMATIC
CAR:
ALTERNATIVE
INPUT
CHOICES
.
32
2.5.3
GANTRY
CRANE:
ALTERNATIVE
INPUT
CHOICES
.
33
2.6
EXAMPLE:
A
SEPARATELY-EXCITED
DC
MOTOR
.
34
2.6.1
DC
MOTOR:
MATHEMATICAL
MODEL
.
34
2.6.2
DC
MOTOR:
INPUT
CHOICE
.
35
2.6.3
DC
MOTOR:
FLATNESS
.
35
2.7
STATES
.
37
2.7.1
GANTRY
CRANE:
STATE
REPRESENTATIONS
.
37
2.7.2
DEFINITION
OF
A
STATE
.
41
2.7.3
STATE
TRANSFORMATIONS
.
46
2.7.4
FLATNESS
OF
SYSTEMS
IN
A
STATE
REPRESENTATION
.
49
2.7.5
BRUNOVSKY
STATES
AND
A
CONTROLLER
FORM
FOR
FLAT
SYSTEMS
.
50
VI
CONTENTS
2.7.6
STATE
REPRESENTATIONS:
EXAMPLES
.
54
2.7.7
FLATNESS
AND
CONTROLLABILITY
OF
THE
LINEARIZED
SYSTEM
.
56
3
FLATNESS-BASED
TRAJECTORY
PLANNING
AND
FEED-FORWARD
CONTROL
59
3.1
FLATNESS-BASED
ANALYSIS
OF
EQUILIBRIA
.
60
3.2
EXAMPLE:
CHEMICAL
REACTOR
.
61
3.2.1
CHEMICAL
REACTOR:
MATHEMATICAL
MODEL
.
61
3.2.2
CHEMICAL
REACTOR:
FLATNESS
.
62
3.2.3
CHEMICAL
REACTOR:
STATIONARY
ANALYSIS
.
63
3.2.4
CHEMICAL
REACTOR:
FLATNESS
AND
EQUILIBRIUM
POINTS
WITH
TWO
CONTROLS
.
64
3.3
TRAJECTORY
PLANNING
AND
FEED-FORWARD
CONTROL
.
66
3.3.1
TRANSITION
BETWEEN
STATIONARY
OPERATING
POINTS
.
68
3.3.2
CRANE:
TRAJECTORY
PLANNING
AND
OPEN-LOOP
CONTROL
DESIGN
.
.
70
3.3.3
DC
MOTOR:
START-UP
.
73
3.3.4
STEERING
ALONG
TRAJECTORIES
OF
QUANTITIES
NOT
BELONGING
TO
A
FLAT
OUTPUT
.
76
3.3.5
ACCOUNTING
FOR
CONSTRAINTS
.
78
3.3.6
CAR:
SETPOINT
TRANSITIONS
.
79
4
STABLE
TRACKING
BY
STATE
FEEDBACK
85
4.1
STATE
FEEDBACK
.
88
4.1.1
ENDOGENOUS
STATE
FEEDBACK
.
89
4.1.2
QUASI-STATIC
AND
STATIC
STATE
FEEDBACK
.
91
4.1.3
COMPARISON
OF
THE
FEEDBACK
CLASSES
.
92
4.2
LINEARIZATION
OF
FLAT
SYSTEMS
BY
STATE
FEEDBACK
.
94
4.3
STABILIZATION
OF
THE
TRACKING
ERROR
DYNAMICS
.
96
4.4
EXAMPLE:
PLANAR
MOTION
OF
A
VTOL
AIRCRAFT
.
99
4.4.1
VTOL:
MODEL
.
99
4.4.2
VTOL:
FLATNESS
.
100
4.4.3
VTOL:
BRUNOVSKY
STATES
.
103
4.4.4
VTOL:
QUASI-STATIC
FEEDBACK
.
105
4.4.5
VTOL:
DYNAMIC
STATE
FEEDBACK
.
107
4.5
FURTHER
EXAMPLES
FOR
TRAJECTORY
TRACKING
CONTROL
DESIGN
.
108
4.5.1
DC
MOTOR:
STATIC
FEEDBACK
.
109
4.5.2
CHEMICAL
REACTOR:
FEEDBACK
WITH
DIFFERENT
INPUTS
.
110
4.5.3
GANTRY
CRANE:
QUASI-STATIC
FEEDBACK
.
114
4.5.4
KINEMATIC
CAR:
INVARIANT
PATH
TRACKING
.
116
CONTENTSVII
5
OBSERVERS
FOR
TRAJECTORY
TRACKING
125
5.1
OBSERVER
DESIGN
.
125
5.1.1
VTOL:
OBSERVERS
.
127
5.1.2
DC
MOTOR:
OBSERVERS
.
130
5.2
TRACKING
OBSERVERS
.
132
5.2.1
TIME-VARYING
OBSERVER
GAIN
.
134
5.3
OBSERVABILITY
REQUIREMENT
.
139
5.4
OVERHEAD
CRANE:
TRACKING
OBSERVER
.
143
6
FLATNESS
CONDITIONS,
DEFECT,
AND
ORBITAL
FLATNESS
147
6.1
NECESSARY
CONDITIONS
FOR
FLATNESS
.
148
6.1.1
RULED
SURFACE
CONDITION
.
148
6.1.2
A
CHEMICAL
BATCH
REACTOR
.
150
6.1.3
A
PLANAR
DOUBLE
PENDULUM
.
151
6.2
SUFFICIENT
CONDITIONS
FOR
FLATNESS
.
153
6.3
SYSTEMS
WITH
A
SERIES
STRUCTURE
.
157
6.4
FLATNESS
DEFECT
.
160
6.5
ORBIT
ALLY
FLAT
SYSTEMS
.
161 |
| any_adam_object | 1 |
| any_adam_object_boolean | 1 |
| author | Rudolph, Joachim |
| author_GND | (DE-588)1229841105 |
| author_facet | Rudolph, Joachim |
| author_role | aut |
| author_sort | Rudolph, Joachim |
| author_variant | j r jr |
| building | Verbundindex |
| bvnumber | BV047345233 |
| classification_rvk | ZQ 9910 |
| ctrlnum | (OCoLC)1246194320 (DE-599)DNB1227084250 |
| dewey-full | 629.8312 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8312 |
| dewey-search | 629.8312 |
| dewey-sort | 3629.8312 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| discipline_str_mv | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV047345233 |
| illustrated | Illustrated |
| index_date | 2024-07-03T17:35:45Z |
| indexdate | 2025-01-14T09:01:02Z |
| institution | BVB |
| institution_GND | (DE-588)1064118135 |
| isbn | 9783844078930 3844078932 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-032747540 |
| oclc_num | 1246194320 |
| open_access_boolean | |
| owner | DE-83 |
| owner_facet | DE-83 |
| physical | vii, 163 Seiten Illustrationen 21 cm, 258 g |
| publishDate | 2021 |
| publishDateSearch | 2021 |
| publishDateSort | 2021 |
| publisher | Shaker Verlag |
| record_format | marc |
| series2 | Berichte aus der Steuerungs- und Regelungstechnik |
| spelling | Rudolph, Joachim Verfasser (DE-588)1229841105 aut Flatness-based control an introduction Joachim Rudolph Düren Shaker Verlag 2021 vii, 163 Seiten Illustrationen 21 cm, 258 g txt rdacontent n rdamedia nc rdacarrier Berichte aus der Steuerungs- und Regelungstechnik Chemischer Reaktor (DE-588)4121085-2 gnd rswk-swf Flaches System (DE-588)113900851X gnd rswk-swf Nichtlineare Regelung (DE-588)4132964-8 gnd rswk-swf Flachheitsbasierte Folgeregelung (DE-588)4743050-3 gnd rswk-swf Kraftfahrzeug (DE-588)4073757-3 gnd rswk-swf Zustandsrückführung (DE-588)4191173-8 gnd rswk-swf Störgrößenaufschaltung (DE-588)4465428-5 gnd rswk-swf Portalkran (DE-588)4131887-0 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf nichtlineare Regelung Nonlinear Control Flatness-Based Control Regelungstechnik Flachheitsbasierte Folgeregelung (DE-588)4743050-3 s Nichtlineare Regelung (DE-588)4132964-8 s Bahnplanung (DE-588)4267628-9 s Flaches System (DE-588)113900851X s Störgrößenaufschaltung (DE-588)4465428-5 s Zustandsrückführung (DE-588)4191173-8 s Kraftfahrzeug (DE-588)4073757-3 s Portalkran (DE-588)4131887-0 s Chemischer Reaktor (DE-588)4121085-2 s DE-604 Shaker Verlag (DE-588)1064118135 pbl Erscheint auch als Online-Ausgabe Rudolph, Joachim Flatness-Based Control 1. Auflage Düren : Shaker, 2021 Online-Ressource, 172 Seiten, 25 Illustrationen B:DE-101 application/pdf https://d-nb.info/1227084250/04 Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=032747540&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p dnb 20210607 DE-101 https://d-nb.info/provenance/plan#dnb 2\p dnb 20210607 DE-101 https://d-nb.info/provenance/plan#dnb 3\p dnb 20210607 DE-101 https://d-nb.info/provenance/plan#dnb |
| spellingShingle | Rudolph, Joachim Flatness-based control an introduction Chemischer Reaktor (DE-588)4121085-2 gnd Flaches System (DE-588)113900851X gnd Nichtlineare Regelung (DE-588)4132964-8 gnd Flachheitsbasierte Folgeregelung (DE-588)4743050-3 gnd Kraftfahrzeug (DE-588)4073757-3 gnd Zustandsrückführung (DE-588)4191173-8 gnd Störgrößenaufschaltung (DE-588)4465428-5 gnd Portalkran (DE-588)4131887-0 gnd Bahnplanung (DE-588)4267628-9 gnd |
| subject_GND | (DE-588)4121085-2 (DE-588)113900851X (DE-588)4132964-8 (DE-588)4743050-3 (DE-588)4073757-3 (DE-588)4191173-8 (DE-588)4465428-5 (DE-588)4131887-0 (DE-588)4267628-9 |
| title | Flatness-based control an introduction |
| title_auth | Flatness-based control an introduction |
| title_exact_search | Flatness-based control an introduction |
| title_exact_search_txtP | Flatness-based control an introduction |
| title_full | Flatness-based control an introduction Joachim Rudolph |
| title_fullStr | Flatness-based control an introduction Joachim Rudolph |
| title_full_unstemmed | Flatness-based control an introduction Joachim Rudolph |
| title_short | Flatness-based control |
| title_sort | flatness based control an introduction |
| title_sub | an introduction |
| topic | Chemischer Reaktor (DE-588)4121085-2 gnd Flaches System (DE-588)113900851X gnd Nichtlineare Regelung (DE-588)4132964-8 gnd Flachheitsbasierte Folgeregelung (DE-588)4743050-3 gnd Kraftfahrzeug (DE-588)4073757-3 gnd Zustandsrückführung (DE-588)4191173-8 gnd Störgrößenaufschaltung (DE-588)4465428-5 gnd Portalkran (DE-588)4131887-0 gnd Bahnplanung (DE-588)4267628-9 gnd |
| topic_facet | Chemischer Reaktor Flaches System Nichtlineare Regelung Flachheitsbasierte Folgeregelung Kraftfahrzeug Zustandsrückführung Störgrößenaufschaltung Portalkran Bahnplanung |
| url | https://d-nb.info/1227084250/04 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=032747540&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT rudolphjoachim flatnessbasedcontrolanintroduction AT shakerverlag flatnessbasedcontrolanintroduction |
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