전기전자학회논문지 (Journal of IKEEE)

  • 제9권2호
  • /
  • Pages.87-100
  • /
  • 2005
  • /
  • 1226-7244(pISSN)
  • /
  • 2288-243X(eISSN)
한국전기전자학회 (Institute of Korean Electrical and Electronics Engineers)
권호 표지

고 강인성 적분 최적 가변구조 제어기

A Highly Robust Integral Optimal Variable Structure System

  • 이정훈 (경상대학교 제어계측공학과, ERI)
  • Lee, Jung-Hoon (ERI, Dept. of Contr. & Instrum. Eng,. Gyeongsang National University)
  • 발행 : 2005.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

본 연구는 불확실성이 존재하는 다이나믹 시스템을 고 강인성 및 성능 사전 결정 제어를 하기 위하여 적분 최적 가변구조 시스템을 설계한다. 제안된 제어기에서는 적분 슬라이딩 면을 이용 리칭 문제를 완전히 제거하여 시스템이 초기 값에서부터 바로 슬라이딩하여 외란과 불확실성에 무관하게 사전에 결정된 슬라이딩 면을 슬라이딩 모드 상태로 추종하므로 고 강인성 제어가 이루어진다. 적분 슬라이딩 면이 정의하는 이상 슬라이딩 동특성을 상태방정식 형으로 얻고, 고급 최적 제어 이론을 통하여 최적 의미로 설계한다. 이는 바로 슬라이딩 면과 등가 제어입력의 설계가 된다. 사전에 선정된 슬라이딩 면 위에 슬라이딩 모드를 발생할 제어입력을 설계하였다. 그 결과 외란과 불확정성에도 불구하고 주어진 초기 값에서부터 원점까지 전체 슬라이딩 출력이 완전하게 보장받는다. 더구나 기존의 최적 VSS에서는 설계 성능의 강인성을 보장받기 어려운데 반하여, 제안된 IOVSS에서는 실제 출력의 예측과 사전 결정이 가능하다. 예제를 들어 제안된 알고리듬의 성능을 검진한다.

In this paper, a design of an integral augmented optimal variable structure system(IOVSS) is presented for the prescribed output control of uncertain SISO systems under persistent disturbances. This algorithm aims at removing the problems of the reaching phase by incorporating advanced optimal control theory. By means of an integral sliding surface, the reaching phase is completely removed, and the integral sliding surface can be defined from a given initial state to origin without any reaching phase. The ideal sliding dynamics of the integral sliding surface is obtained in the form of the state equation and is designed in an optimal sense by targeting the design of the integral sliding surface and equivalent control input. The corresponding control input is selected in order to generate the sliding mode on the predetermined integral sliding surface. As a result, the whole sliding output from a given initial state to origin is completely guaranteed against persistent disturbances. Moreover the prediction/predetermination of output is enabled, which helps in improving the performance over previously implemented VSS's. Through an illustrative example, the usefulness of the algorithm is shown.

키워드

참고문헌

  1. Sliding modes and their application in variable structure systems Utkin, V.I.
  2. Control systems of variable structure Itkis, U.
  3. IEEE Trans. Automat. Control v.AC-22 no.2 Variable structure systems with sliding mode Utkin, V.I.
  4. Proc. IEEE v.76 Variable structure control of nonlinear multivariable system: A tutorial Decarlo, R.A.;Zak, S.H.;Mattews, G.P.
  5. IEEE Trans. Industrial Electronics v.40 no.1 Variable structure control: A survey Hung, J.Y.;Gao, W.;Hung, J.C.
  6. Auomat. Remote Control v.39 no.10 Methods for constructing discontinuity planes in multidimensional variable structure systems Utkin, V.I.;Yang, K.D.
  7. IEEE Trans. Industrial Electronics v.39 no.5 An optimal variable structure control with integral compensation for electrohydraulic position servo control systems Chern, T.L.;Wu, Y.C.
  8. Int. J. Control v.36 no.5 Computation of the zeros and direction of linear multivariable systems El-Ghezawi, D.M.E.;Zinober, A.S.I.;Owens, D.H.;Bilings, S.A.
  9. Int. J. Control v.44 no.1 Two approaches to hyperplane design in multivariable variable structure control systems Doring, C.M.;Zinober, A.S.I.
  10. Int. J. Control v.38 no.3 Analysis and design of variable structure system using a geometric approach El-Ghezawi, D.M.E.;Zinober, A.S.I.;Bilings, S.A.
  11. Int. J. Control v.48 Differential geometric method in variable structure control Hebertt, S.R.
  12. IEE Proceedings-D v.138 no.5 Design of integral variable structure controller and application to electrohydraulic velocity servo systems Chern, T.L.;Wu, Y.C.
  13. Autometica v.27 no.5 A MIMO sliding control with a first-order plus integral sliding condition Chang, L.W.
  14. IEEE Trans. Industry Applications v.27 no.5 Control dynamics of speed drive systems using sliding mode controllers with integral compensation Ho, E.Y.Y.;Sen, P.C.
  15. Automat. Remote Control v.44 no.2 Necessary and sufficient conditions of minimum in optimal/control problems with sliding modes and generalized controls Dubovitskii, V.A.
  16. Automat. Remote Control v.44 no.11 Optimization of sliding motions in a discontinuous system Ashchepkov, L.T.
  17. Int. J. Control v.38 no.2 Tracking control of nonlinear systems using sliding surface, with application to robot manipulators Slotine, J.J.;Sastry, S.S.
  18. IEEE Trans. Autom. Control v.AC-22 no.6 A singular perturbation analysis of high-gain feedback systems Young, K.K.D.;Kokotovic, P.V.;Utkin, V.I.
  19. Int. J. Control v.58 no.1 Moving, switching surfaces for robust control second-order variable structure system Ceong, S.B.;C.C.;Park, D.W.
  20. IEEE Trans. Ind. Electronics v.IE-32 no.3 MOSFET converter-fed position servo system with sliding mode control Harashima, F.;Hashimoto, H.;Kondo, S.
  21. Trans. of ASME v.115 Sliding control without reaching phase and its application to bipdedal locomotion Chang, T.H.;Hurmulzlu, Y.
  22. Applied nonlinear control Slotine, J.J.E.;Li, W.
  23. IEE proceedings-D v.137 no.1 Adaptive chattering alleviation of variable structure system control Chang, F.J.;Twu, S.H.;Chang, S.
  24. Proceedings of the 27th Conference on Decision and Control(CDC'88) v.1 Tracking and disturbance rejection in nonlinear systems: the integral manifold approach Tseng, H.C.;Kokotovic, P.V.
  25. J. Dynamic System, Measurement, and Control(Trans. of ASME) v.108 Optimal observer using time-weighted performance index with prespecified eigenvalues Kwon, B.H.;Youn, M.J.
  26. J. Basic Eng. Trans. of ASME v.86 no.March When is a linear control system optimal? Kalman, R.E.
  27. Comput. J. v.6 A rapid convergent descent method for minimization Fletcher, R.;Powell, M.J.D.
  28. IEE Proceedings-D v.138 no.5 Design of integral variable structure controller and application to electrohydraulic velocity servosystems Chern, T.L.;Wu, Y.C.
  29. Applied nonlinear control Slotine, J.J.E.;Li, W.
  30. Trans. KIEE v.43 no.3 An integral augmented optimal V. S. C. for uncertain dynamical SISO systems Lee, J.H.;Youn, M.J.
  31. IEEE T. on Industrial Electronics v.41 no.5 Continuous variable structre controller for BLDDSM position control with prescribed tracking performance Lee, J.H.;Ko, J.S.;Chung, S.K.;Lee, D.S.;Lee, J.J.;Youn, M.J.
  32. Trans. KIEE v.50D no.4 A new improved integral variable tructure controller for uncertain linear systems Lee, J.H.
  33. Automatica v.40 A new improved continuous variable structure controller for accurately prescribed tracking control of BLDD servo motors Lee, J.H.;Youn, M.J.