Robust-Adaptive Control of NonLinear Mechatronic Systems and Robots
Lörinc Márton
Broschiertes Buch

Robust-Adaptive Control of NonLinear Mechatronic Systems and Robots

With Applications to Friction Compensation

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This work deals with the tracking control of nonlinear mechatronic systems with unknown parameters. In the first part of the book an extended robust-adaptive control law and a supervisory control law is proposed for nonlinear mechatronic systems to achieve increased robustness in the presence of large modelling uncertainties. The proposed control laws are applicable to under-actuated mechatronic systems. The second part of the book deals with the friction in mechatronic systems. A general friction model is proposed that describes well the nonlinear behavior of friction and at the same time it ...