• 제목/요약/키워드: H-Controller

검색결과 1,606건 처리시간 0.033초

Stability Condition of Robust and Non-fragile $H^{\infty}$ Hovering Control with Real-time Tuning Available Fuzzy Compensator

  • Kim, Joon-Ki;Lim, Do-Hyung;Kim, Won-Ki;Kang, Soon-Ju;Park, Hong-Bae
    • International Journal of Control, Automation, and Systems
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    • 제5권4호
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    • pp.364-371
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    • 2007
  • In this paper, we describe the synthesis of robust and non-fragile $H^{\infty}$ state feedback controllers for linear systems with affine parameter uncertainties, as well as a static state feedback controller with poly topic uncertainty. The sufficient condition of controller existence, the design method of robust and non-fragile $H^{\infty}$ static state feedback controller with fuzzy compensator, and the region of controllers that satisfies non-fragility are presented. We show that the resulting controller guarantees the asymptotic stability and disturbance attenuation of the closed loop system in spite of controller gain variations within a resulted polytopic region.

Antenna Control System Using Step Tracking Algorithm with H$_{\infty}$ Controller

  • Cho, Chang-Ho;Lee, Sang-Hyo;Kwon, Tae-Yong;Lee, Cheol
    • International Journal of Control, Automation, and Systems
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    • 제1권1호
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    • pp.83-92
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    • 2003
  • The outdoor antenna servo system is subject to has significant torque disturbances from wind pressures and gusts on the antenna structures, as well as bearing and aerodynamic frictions. This control system should provide a sharp directivity in spite of the environmental disturbances and internal uncertainties. Therefore, the implementation of a real-time controller is necessary for the precise generation of the reference signal and robust tracking performance. In this paper, the discrete-time controller for the quick tracking of a target communication satellite is designed by applying the sampled-data $H_{\infty}$ control theory along with the reference signal generated by an improved conventional step-tracking algorithm. The sampled-data $H_{\infty}$controller demonstrates superior robustness for the longer sampling period when compared with a simple PID controller.

The Robust Controller Design for Lateral Control of Vehicles (차량의 횡방향 모델에 대한 강인 제어기 설계)

  • 김은주;하성기;정승권;이만형
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 한국공작기계학회 2002년도 춘계학술대회 논문집
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    • pp.496-499
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    • 2002
  • The LQG/LTR controller is a robust and stable control which is systematic method with a view of engineering. And the H$^{\infty}$ scheme is adopted for the design of the controller to reduce the effects of the disturbances. In this paper, LQG/LTR and H$^{\infty}$ Controller Design of Lateral Control System for an Automobile is developed with 3 DOF (degree-of-freedom) model. The performance has been compared for the employed two types of controllers via computed simulations. The results show that the H$^{\infty}$ controller provides more robustness property for the disturbances and lower control input.

The Robust Controller Design for Lateral Control of Vehicles (차량의 횡방향 모델분석 및 제어기 설계)

  • 김은주;하성기;배종일;이만형
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 한국정밀공학회 2002년도 춘계학술대회 논문집
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    • pp.318-321
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    • 2002
  • The LQG/LTR controller is a robust and stable control which is systematic method with a view of engineering. And the H$^{\infty}$ scheme is adopted for the design of the controller to reduce the effects of the disturbances. In this paper, LQG/LTR and H$^{\infty}$ Controller Design of Lateral Control System for an Automobile is developed with 3 DOF (degree-of-freedom) model. The performance has been compared for the employed two types of controllers via computed simulations. The results show that the H$^{\infty}$ controller provides more robustness property for the disturbances and lower control input.

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Improvement of Power Quality of Single-phase Utility Interactive Inverter using Repetitive Controller (반복제어기를 적용한 단상 계통연계형 인버터의 전력품질 개선)

  • Kim, J.H.;Mok, H.S.;Choe, G.H.;Lee, J.W.;Chung, G.B.;Lee, J.M.;Cho, Y.H.
    • Proceedings of the KIPE Conference
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    • 전력전자학회 2007년도 추계학술대회 논문집
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    • pp.11-14
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    • 2007
  • In recent years, installation of the new and renewable energy system is rapidly increasing. Because the new and renewable energy system is a practical distributed generation system to save energy resources and to keep environments clean. Conventional single-phase utility interactive inverter controls output current by using PI current controller. However, this method is insufficient to suppress harmonic current resulted from nonlinear loads in grid line. In this paper, in order to suppress periodic waveform distortion and improve THD(Total Harmonic Distortion), new type current controller added a parallel repetitive controller is proposed and then performance of the proposed controller was verified with computer simulation.

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Position synchronizing control of two axes system using by VSS and $H_{\infty}$ control (VSS 및 $H_{\infty}$ 제어법에 의한 2축 위치 동기 제어)

  • 변정환;김영복;양주호
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.754-758
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    • 1996
  • In this paper, a new method of position synchronizing control is proposed for multi-axes driving system. The proposed synchronizing control system is constituted with speed and synchronizing controller. The structure of synchronizing control system is varied by sign of synchronizing error. When a disturbance input becomes added to one axis, this axis becomes slave axis. The other axis is master axis. Therefore, master axis is not influenced by the disturbance. The speed controller of the first axis is designed by $H_{\infty}$ control theory. The speed controller of the second axis is designed by inverse dynamics of speed control system of the first axis. The speed control system designed with $H_{\infty}$ controller guarantees low sensitivity for the disturbance as well as robustness against model uncertainties. Especially, the synchronizing controller is designed to keep position error to minimize by controlling speed of slave axis. The effectiveness of the proposed method is successfully confirmed through several experiments.

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Delay Dependent Fuzzy H Control of Radar Gimbal Stabilization System with Parameter Uncertainty and Time Delay (파라미터 불확실성 및 시간지연을 갖는 레이더 김벌 안정화 시스템의 지연종속 퍼지 H 제에)

  • Kim, Tae-Sik;Lee, Hae-Chang;Lee, Kap-Rai
    • Journal of Institute of Control, Robotics and Systems
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    • 제11권11호
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    • pp.920-929
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    • 2005
  • This paper presents controller design method for nonlinear radar gimbal system with parameter uncertainty and time delay. In order to consider nonlinearity of gimbal bearing frictional torque, we firstly represent fuzzy model for the nonlinear gimbal system, which is achieved by fuzzy combination of linear models through nonlinear fuzzy membership functions. And secondly we propose a delay dependent fuzzy $H_\infty$ controller design method for the delayed fuzzy model with parameter uncertainty and design radar gimbal controller. The designed controller stabilize gimbal system and guarantee $H_\infty$ performance. A computer simulation is given to illustrate stabilized control performances of the designed controller.

Coprime factor reduction of plant in $H{\infty}$ mixed sensitivity problem ($H{\infty}$ 혼합감도문제에서 플랜트의 소인수요소줄임)

  • 음태호;오도창;박홍배;김수중
    • Journal of the Korean Institute of Telematics and Electronics B
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    • 제33B권2호
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    • pp.20-27
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    • 1996
  • In this paper, we propose a coprime factor model reduction method to get a reduced order controller in $H^{\infty}$ mixed sensitivity problem with frequency weighting functions. for this purpose, the given $H^{\infty}$ mixed sensitivity problem is transformed into robust stabilization problem with coprime factor uncertainty of given plant. This method is to define frequency weighted coprime factors of plant in CSD (chain scattering description) form and reduce the coprime factors using weighted balanced truncation. then a controller is designed to the reduced order coprime factors using J-lossless coprime factorization method. Using this approach, the robust stability condition is derived and good performance is preserved in closed loop system with the given plant and the reduced order controller. Also the order of reduced controller for guaranteeing the robust stability can be determined before designing the reduced controller. The proposed method behaves well in both stable and unstable plant.

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$H{\infty}$ optimal controller robustness and performance improvement by frequency domain analysis of open loop transfer function (개루프 전달함수 주파수영역 해석에 의한 $H{\infty}$ 최적 제어기의 견실성 및 성능 개선)

  • Kim, Y.K.;Ryu, C.K.
    • Proceedings of the KIEE Conference
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    • 대한전기학회 1999년도 하계학술대회 논문집 B
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    • pp.761-763
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    • 1999
  • When the controller designed by the $H{\infty}$ control technique is applied to the object system, sometimes the controller does not satisfy the robust stability and robust performance but only satisfy the nominal performance. In this paper, we derive the region on the frequency response curve of the open-loop transfer function which satisfy the robustness and robust performance of the designed controller. We also derive the region for the suitableness of the weighting function on the frequency response curve of the weighting function. We showed that the robust stability and the robust performance of the $H{\infty}$ optimal control)or by applying the designed controller on an electromechanical actuator system could be improved by determining parameter ${\gamma}$ and weighting function gain ${\alpha}$ using the derived region.

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Two Degree-of-Freedom $H_{\infty}$ Controller Design and Simulation For the Lateral Control of the Vehicle (차량 횡 방향 제어를 위한 2 자유도 $H_{\infty}$제어기 설계 및 모의실험)

  • 장재필;정길도
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.112-112
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    • 2000
  • The aim of this paper is to design a two degree-of-freedom H$_{\infty}$ controller for lateral control of the vehicle. The object of this controller is to track the centerline of the reference lane. The controller is splited into two parts, feedback and prefilter. The feedback part is for both robust stability and disturbance attenuation, while the prefilter is for improving the robust tracking properties of closed loop system. This paper is consist of preface, background theory, dynamics of vehicle, controller design and computer simulation.ter simulation.

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