Nuclear Engineering and Technology

Korean Nuclear Society (한국원자력학회)
권호 표지

Robust Controller with Adaptation within the Boundary Layer Application to Nuclear Underwater Inspection Robot

  • Published : 2002.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improved control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement. Notational Conventions Vectors are written in boldface roman lower-case letters, e.g., x and y. Matrices are written in upper-case roman letters, e.g., G and B. And ∥.∥ means the Euclidean norm.

Keywords

References

  1. J. Y. Hung, W. Gao, and J. C. Hung, 'Variable Structure Control: A Survey,' IEEE Trans. on Industrial Electronics, 40, no.1, pp.2-22 (1993) https://doi.org/10.1109/41.184817
  2. R. A. DeCarlo, S. H. Zak, and G. P. Matthews, 'Variable Structure Control of Nonlinear Multivariable Systems: A Tutorial', Proceedings of IEEE, 76, No.3, pp.212-232 (1988) https://doi.org/10.1109/5.4400
  3. J. J. E. Slotine and J. A. Coetsee, 'Adaptive Sliding Controller Synthesis for Nonliear Systems', International Journal of Control, 43, no.6, pp.1631-1651 (1986) https://doi.org/10.1080/00207178608933564
  4. H. Elmali and N. Olgac, 'Sliding Mode Control with Perturbation Estimation (SMCPE): A New Approach', International Journal of Control, 56, no.4, pp.923-941 (1992) https://doi.org/10.1080/00207179208934350
  5. P. Lu, 'Optimal Predictive Control of Continuous Nonlinear Systems', International Journal of Control, 62, no.3, pp.633-649 (1995) https://doi.org/10.1080/00207179508921561
  6. G. Y. Park, J. S. Yoon, and Y. S. Park, 'Robust Nonlinear Predictive Control of Underwater Wall-Climbing Robot', Institute of Control, Automation, and System Engineering, 4, no.6, pp.772-779 (1998)
  7. G. Y. Park and J. S. Yoon, 'Design of an adaptive Robust Nonliear Predictive Controller', Institute of Control, Automation, and System Engineering, 7, no.12, pp.967-972 (2001)
  8. J.-J. Slotine and L. Weiping, Applied Nonliear Control, Prentice Hall, pp.229-230 (1991)
  9. D. S. Yoo and M. J. Chung, 'A Variable Structure Control with Simple Adaptation Laws for Upper Bounds on the Norm of the Uncertainties', IEEE Trans. on Automatic Control, 37, pp.860-865 (1992) https://doi.org/10.1109/9.256348
  10. Y. S. Park, G. Y. Park, J. S. Yoon, B. J. Lee, and W. Z. Oh, 'Design and Control of Underwater Wall Ranging Robot for Inspection of Research Reactor', in Field & Service Robotics-Springer-Verlag Engineering Series, pp.245-250, April (1998)
  11. M.Y. Kim, K.H. Kim, H. S. Cho, G.Y. Park, and J. S. Yoon, 'A Shallow AUV In Nuclear Power Plants: Design and Implementation,' Proc. of International Conference on Mechatronics Technology, Taiwan, November (1998)
  12. Hyperstability of Control Systems M. Popov