Non-identifier Based Adaptive Control in Mechatronics: Theory and Application

654 Pages·2017·19.52 MB·English

by  Christoph M. Hackl (auth.)

Lecture Notes in Control and Information Sciences 466
Christoph M. Hackl
Non-identifier
Based Adaptive
Control in
Mechatronics
Theory and Application
Lecture Notes in Control and Information
Sciences
Volume 466
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Christoph M. Hackl
fi
Non-identi er Based
Adaptive Control
in Mechatronics
Theory and Application
123
Christoph M.Hackl
Munich Schoolof Engineering
Technical University of Munich
Garching
Germany
ISSN 0170-8643 ISSN 1610-7411 (electronic)
Lecture Notesin Control andInformation Sciences
ISBN978-3-319-55034-3 ISBN978-3-319-55036-7 (eBook)
DOI 10.1007/978-3-319-55036-7
LibraryofCongressControlNumber:2017932779
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“Das logische Denken ist das Muster einer
vollständigen Fiktion”.
Friedrich Wilhelm Nietzsche (1844–1900)
Preface
This monograph serves as lecture notes for the course “Non-identifier Based
AdaptiveControlinMechatronics”whichIgiveannuallyinthesummertermatthe
Technical University of Munich (TUM), Germany.
It is based on my dissertation [118] and has been rearranged, rewritten, and
extendedbygeneralizationsoftheconsideredsystemclassesandbyrecentresearch
results on anti-windup [120, 123], current funnel control of electrical machines
[123], disturbance observers for elastic industrial servo-systems and wind turbine
systems [119, 124], position funnel control with internal model of industrial
servo-systems [126], position funnel control of robotic systems [117, 125], and
speed funnel control of wind turbine systems [121, 124].
Part I motivates and introduces the considered non-identifier motion control
problems, highlights the key historical developments in control systems and
mechatronics, and summarizes the contributions of this monograph.
Part II presents the theory of non-identifier based adaptive control in a didactic
andself-containedmanner:Assimpleresultsareusuallythebasisformoredifficult
results, all extensions and generalizations of preceding results are shown in the
same style, by reusing very similar logical steps/ideas and with identical notation
suchthatthereadercanfollowaseasilyaspossibleandwithouttheneedoflooking
up several additional references.
This didactic approach leads to repetitions in the presentation and argumenta-
tion. Most of the proofs are given in full length and detail. In particular for engi-
neering students without background in systems and control theory, various
problems and their solutions are collected in Part V. The thorough discussions
of the solutions shall ease insight and deepen understanding of the mathematical
notions used in this book.
vii
viii Preface
Part III discusses possible applications of non-identifier-based adaptive control
in mechatronics and includes comprehensive modeling sections which might be a
valuable source for students, engineers, and researchers working in systems and
control theory and related fields.
Part IV concludes the book by a summary of the key outcomes and by an
outlook describing open problems and possible future research directions.
Garching, Germany Christoph M. Hackl
November 2016
Acknowledgements
I am deeply indebted to the following persons for their very valuable comments,
help,andsupport:ThomasHamacher(forhisextraordinarysupportandstimulation
as Director of the Munich School of Engineering), Torsten Engler and Florian
Larcher (for typesetting first drafts of parts of the problems and solutions),
Christian Dirscherl and Korbinian Schechner (for drafting parts of Sect. 12.1 in
German), Maarten Kamper (for providing the FEM flux data of his reluctance
synchronous machine (RSM) design), Julian Kullick (for providing the nonlinear
RSM model for simulations), Achim Ilchmann (for being an excellent mentor and
supervisor;withouthimthisbookwouldnothavebeenwritten),FlorianSaupe(for
implementing and testing the MIMO funnel controller at the KUKA robot of the
Deutsches Zentrum für Luft- und Raumfahrt (DLR), Oberpfaffenhofen), Stephan
Trenn(for hisdetailedfeedback onSect. 5.2),and,mostimportant, mywife Rieke
(for her love and endless support).
ix
Contents
Notation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .... xvii
Part I Introduction
1 Motivation and Outline.. ..... .... .... .... .... .... ..... .... 3
2 Brief Historical Overview of Control Systems, Mechatronics
and Motion Control .... ..... .... .... .... .... .... ..... .... 9
2.1 Feedback Control and Adaptive Control.. .... .... ..... .... 9
2.2 Mechatronics and Motion Control .. .... .... .... ..... .... 15
3 Problem Statement for Mechatronic Systems . .... .... ..... .... 19
3.1 The Non-identifier Based Adaptive Motion Control
Problem in Mechatronics . .... .... .... .... .... ..... .... 19
3.2 The Generalized Non-identifier Based Adaptive Control
Problem . .... .... ..... .... .... .... .... .... ..... .... 20
3.2.1 Considered Systems... .... .... .... .... ..... .... 21
3.2.2 Control Objectives.... .... .... .... .... ..... .... 24
3.2.3 Admissible Reference Signals... .... .... ..... .... 25
3.2.4 Measurement Noise and Measurement Errors .... .... 26
4 Contributions of this Book.... .... .... .... .... .... ..... .... 29
Part II Theory
5 Mathematical Preliminaries ... .... .... .... .... .... ..... .... 33
5.1 Norms... .... .... ..... .... .... .... .... .... ..... .... 33
5.1.1 Vector Norms ... .... .... .... .... .... ..... .... 33
5.1.2 Induced Matrix Norms .... .... .... .... ..... .... 35
5.1.3 Some More Facts on Vector and Induced Matrix
Norms.... ..... .... .... .... .... .... ..... .... 36
xi