• Title/Summary/Keyword: Dynamic Output Feedback

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Design of an Output Feedback Variable Structure Control System (출력궤환 가변구조 제어계의 설계에 관한 연구)

  • 이기상;조동식
    • The Transactions of the Korean Institute of Electrical Engineers
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    • v.41 no.8
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    • pp.883-892
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    • 1992
  • In order to remove the assumption of full state availability which is one of the major difficulties with the practical realization of variable structure control system (VSCS), an output feedback variable structure control scheme for multivariable systems is proposed. The proposed output feedback VSCS is composed of a switching surfaces with dynamic structure and a new output feedback control input that can be constructed by using conventional output feedback control input design methodologies. With the proposed scheme, the practical realization of VSCS for the systems with unmeasurable states and for high order systems that conventional schemes cannot be applied is possible. Simulation results show that proposed scheme is a viable method to achieve the desired control performance, for example, good transient response, robustness against process parameter variations and external disturbance without measuring all the state variables.

A study on the design of the optimal nonlinear controller for single state feedback (단일상태 feedback을 가지는 계의 최적 비선형제어기 설계에 관한 연구)

  • 노용균;조겸래
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10a
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    • pp.206-209
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    • 1988
  • For feedback control of a linear dynamic system the optimum linear slace regulator (OLSR) can be implemented only if all state are available for feedback. This work demonstrates that when only the output state is available for feedback, a nonlinear controllers can be improved performance over that obtained by a proportional controller. This paper found the optimal control law by well-known dynamic programming and principles of optimality. Thus, performance of both proportional and nonlinear controllers is compared with performance of optimum linear state regulator.

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Design of Static Output Feedback Controllers for Rollover Prevention (차량 전복 방지를 위한 정적 출력 피드백 제어기 설계)

  • Yim, Seongjin;Oh, Dongho
    • Transactions of the Korean Society of Automotive Engineers
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    • v.22 no.1
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    • pp.20-28
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    • 2014
  • This paper presents static output feedback LQ and $H_{\infty}$ controllers for rollover prevention. Linear quadratic static output feedback controllers have been proposed for rollover prevention in such a way to minimize the lateral acceleration and the roll angle. Rollover prevention capability can be enhanced if $H_{\infty}$ controller is designed. To avoid full-state measurement for feedback requirement or sensitiveness of an observer to nonlinear model error, static output feedback is adopted. To design static output feedback controllers, Kosut's method is adopted because it is simple to calculate. Differential braking and active anti-roll bar are adopted as actuators that generate yaw and roll moments, respectively. The proposed method is shown to be effective in preventing rollover through the simulations on nonlinear multi-body dynamic simulation software, CarSim.

Dynamic Output Feedback Regulation of Robots with Flexible Joints

  • Son, Young I.;Shim, Hyungbo;Jo, Nam H.;Seo, Jin H.
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.104.4-104
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    • 2002
  • $\textbullet$ Contents 1 : PD control of an elastic joint robot $\textbullet$ Contents 2 Dynamic output feedback law without velocity measurements $\textbullet$ Contents 3 : Robust analysis for parameter uncertainties of the robot system $\textbullet$ Contents 4 : Simulation studies with a three joint robot system $\textbullet$ Contents 5 : Performance comparison with an another control law

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The comparison of the performance in the identification between SBP and DBP for a plant with output noise (출력잡음을 가진 플랜트에 대한 SBP 와 DBP의 식별성능 비교)

  • Jin, Seung-Hee;Park, Jin-Bae;Yoon, Tae-Sung
    • Proceedings of the KIEE Conference
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    • 1995.11a
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    • pp.161-164
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    • 1995
  • This paper introduces an identification model called the Dynamic Neural Network(DNN) with a multilayer neural network in the forward path and a linear dynamical system in the feedback path, and defines Dynamic BackPropagation(DBP) as a learning algorithm for it. This identification model uses the feedback of its own output as a learning signal, which is not affected by a noise added to the output terminal of the plant so, it can be considered as a parallel identification model, and when compared with a series-parallel model which does not use the concept of the feedback, the proposed identification scheme exhibits more robust performance.

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Adaptive Output Feedback Control of Unmanned Helicopter Using Neural Networks (신경회로망을 이용한 무인헬리콥터의 적응출력피드백제어)

  • Park, Bum-Jin;Hong, Chang-Ho;Suk, Jin-Young
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.35 no.11
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    • pp.990-998
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    • 2007
  • Adaptive output feedback control technique using Neural Networks(NN) is proposed for uncertain nonlinear Multi-Input Multi-Output(MIMO) systems. Modified Dynamic Inversion Model(MDIM) is introduced to decouple uncertain nonlinearities from inversion-based control input. MDIM consists of approximated dynamic inversion model and inversion model error. One NN is applied to compensate the MDIM of the system. The output of the NN augments the tracking controller which is based upon a filtered error approximation with online weight adaptation laws which are derived from Lyapunov's direct method to guarantee tracking performance and ultimate boundedness. Several numerical results are illustrated in the simulation of Van der Pol system and unmanned helicopter with model uncertainties.

A Novel Stabilizing Control for Neural Nonlinear Systems with Time Delays by State and Dynamic Output Feedback

  • Liu, Mei-Qin;Wang, Hui-Fang
    • International Journal of Control, Automation, and Systems
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    • v.6 no.1
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    • pp.24-34
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    • 2008
  • A novel neural network model, termed the standard neural network model (SNNM), similar to the nominal model in linear robust control theory, is suggested to facilitate the synthesis of controllers for delayed (or non-delayed) nonlinear systems composed of neural networks. The model is composed of a linear dynamic system and a bounded static delayed (or non-delayed) nonlinear operator. Based on the global asymptotic stability analysis of SNNMs, Static state-feedback controller and dynamic output feedback controller are designed for the SNNMs to stabilize the closed-loop systems, respectively. The control design equations are shown to be a set of linear matrix inequalities (LMIs) which can be easily solved by various convex optimization algorithms to determine the control signals. Most neural-network-based nonlinear systems with time delays or without time delays can be transformed into the SNNMs for controller synthesis in a unified way. Two application examples are given where the SNNMs are employed to synthesize the feedback stabilizing controllers for an SISO nonlinear system modeled by the neural network, and for a chaotic neural network, respectively. Through these examples, it is demonstrated that the SNNM not only makes controller synthesis of neural-network-based systems much easier, but also provides a new approach to the synthesis of the controllers for the other type of nonlinear systems.

Output Feedback Consensus of High-order Integrators with a Communication Delay (통신 지연을 갖는 고차 적분기시스템의 출력 피드백 일치)

  • Lee, Sungryul
    • Journal of IKEEE
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    • v.20 no.4
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    • pp.378-384
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    • 2016
  • This paper addresses the output feedback consensus problem for high-order integrators under a directed network with a communication delay. In order to solve this problem, the dynamic output feedback controller is proposed. Also, by using Lyapunov-Krasovskii functional, it is shown that the existence of the proposed consensus controller can always be guaranteed even in the presence of an arbitrarily large communication delay.

Robust and Non-fragile H$\infty$ Output Feedback Controller Design

  • Cho, Sang-Hyun;Kim, Ki-Tae;Park, Hong-Bae
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.75.1-75
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    • 2001
  • In this paper, we provide the synthesis of non-fragile H$\infty$ output feedback controllers for linear systems with affine parameter uncertainties, and dynamic output feedback controller with structural uncertainty. The sufficient condition of controller existence, the design method of robust and non-fragile H$\infty$ output feedback controller, and the region of controllers which satisfies non-fragility are presented. Also using some change of variables and Schur complements, the obtained condition to a compact set. We show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed ...

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Sliding Mode Control of Rotational Inverted Pendulums Using Output Feedback Compensator (출력 피드백을 이용한 회전형 역진자의 슬라이딩 모드 제어)

  • Ha, Jong-Heon;Choi, Joeng-Ju;Kim, Jong-Shik
    • Proceedings of the KSME Conference
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    • 2000.04a
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    • pp.469-474
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    • 2000
  • A sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback and reduced observer is presented for rotational inverted pendulums. This control strategy overcomes the problem of unattainable velocity state which is resulted from severe noise of analogue sense and constructs numerical algorithms designs of dynamic output feedback sliding mode hyperplane and controller. The result of the experiment shows the superior performance compared with the LQ controller and the robustness with respect to both tapping disturbances and certain initial conditions.

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