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http://dx.doi.org/10.5050/KSNVE.2012.22.7.650

Robust Near Time-optimal Controller Design for a Driving System Using Lyapunov Stability  

Lee, Seong-Woo (국방과학연구소)
Song, Oh-Seop (충남대학교 기계공학과)
Publication Information
Transactions of the Korean Society for Noise and Vibration Engineering / v.22, no.7, 2012 , pp. 650-658 More about this Journal
Abstract
This paper proposes a high performance position controller for a driving system using a time optimal controller which has been widely used to control driving systems to achieve desired reference position or velocity in a minimum response time. The main purpose of this research lies in an improvement of transient response performance rather than that of steady-state response in comparison with other control strategies. In order to refine the scheme of time optimal control, Lyapunov stability proofs are incorporated in a controller of standard second order system model. This scheme is applied to the control of a driving system. In view of the simulation and experiment results, the standard second order system model exhibits better minimum-time control performance and robustness than double integral system model does.
Keywords
Time Optimal Controller; Bang-bang Controller; Sliding Mode Controller; Lyapunov Stability;
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Times Cited By KSCI : 1  (Citation Analysis)
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