Proceedings of the Korean Society of Marine Engineers Conference (한국마린엔지니어링학회:학술대회논문집)
- 2005.06a
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- Pages.287-292
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- 2005
Chained systems control using digital state steering
디지털 제어기법에 의한 체인드시스템의 제어
- Published : 2005.06.26
Abstract
In this paper, a state steering strategy using digital control method for chained system is presented. The chained system can be derived from the velocity or acceleration constraints that cannot be integrable. Especially, the chained system derived from an acceleration constraints is called the high order chained system. Such a system classified as a nonholonomic systems and cannot be controlled to its equilibrium points by continuous and time-invariant controller. Therefore discontinuous and time varying controller should be applied to control nonholonomic system. Using variable transformation, two sub system can be obtained from the chained or high order chained system. Deadbeat control and iterative state steering methods are proposed to control the systems that obtained from the variable transformation. Simulation results are given to show the effectiveness of the proposed control scheme.
Keywords