• 제목/요약/키워드: H-Controller

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교류-직류 계통의 안정화를 위한 $H_{\infty}$제어기 설계 (A Design of $H_{\infty}$ Controller for the Stabilization of A.C. -D.C. Power Systems)

  • 한길만;이정필;정형환;이동철
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2000년도 하계학술대회 논문집 A
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    • pp.224-226
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    • 2000
  • In this paper, a robust $H_{\infty}$ controller, based on the Riccati equation approach, is proposed for HVDC power system with parametric uncertainties. Bounds of power system parametric uncertainties are included in Riccati equation to improve the robustness of controller. The proposed $H_{\infty}$ controller for the stabilization of HVDC power system can ensure that the overall system is asymptotically stable for all admissible uncertainties. Simulation results show that the proposed $H_{\infty}$ controller can achieve good performance in presence of uncertainties of power system.

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$\textrm{HO}_2$ 준최적제어기의 변수화를 이용한 혼합된 $\textrm{HO}_2$/$\textrm{H}_\infty$ 최적제어게 설계 ($\textrm{HO}_2$/$\textrm{H}_\infty$ optimal controller design using parameterization of $\textrm{HO}_2$ suboptimal controller)

  • 류동기;방경호;윤한오;박홍배
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.754-759
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    • 1992
  • In this paper, we proposed a mixed H$_{2}$/H$_{\infty}$ optimal controller design method using the parameterization of H$_{2}$ suboptimal controller. The method is based on the minimization of H$_{2}$ performance measure with an H$_{\infty}$-norm constraint. We also derived the necessary and sufficient conditions for existence of solution from the decoupled Riccati equations. And the designed controller has state-space representation.n.

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정규화 소인수분해를 이용한 탐색기 주사루프의 2자유도 $H_{\infty}$ 제어 (Two-degree-of freedom $H_{\infty}$ control of a seeker scan loop using normalized coprime factorization)

  • Lee, H.P.
    • 한국정밀공학회지
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    • 제14권11호
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    • pp.102-109
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    • 1997
  • A two-degree-of freedom (TDF) $H_{\infty}$controller for a seeker scan loop is presented for the purpose of improving scanning performances. The perturbed plant model is characterized via the normalized coprime factorization. The TDF $H_{\infty}$controller is designed based on the loop shaping design procedure and model matching approach, and its performances are evaluated and compared with those of a previous work. It is demonstrated that the proposed TDF $H_{\infty}$controller is more effective to the control of the seeker scan loop than the previous controller.oller.

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LSDP를 이용한 탐색기 주사루프의 $H_{\infty}$ 제어 ($H_{\infty}$ Control of Seeker Scan-Loop using LSDP)

  • 이호평;송창섭
    • 한국정밀공학회지
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    • 제12권1호
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    • pp.78-86
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    • 1995
  • $H_{\infty}$ Controller of seeker scan-loop is designed using LSDP proposed by McFarlane. The performance and robustness of $H_{\infty}$ controller are analyzed using robustness theorems by Lehtomaki and compared with those of the LQG/LTR controller. Especially, structured singular value .mu. -test of Doyle is used to evaluate robust performance of seeker scan-loop. It is demonstated that seeker scan-loop by $H_{\infty}$ controller is very robust to model uncertainties described by additive and multiplicative perturbations.

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로봇 매니퓰레이터를 위한 퍼지 감독자 비선형 $H_{\infty}$ 제어기의 설계 (Fuzzy-supervised nonlinear $H_{\infty}$ controller design for robot manipulator)

  • 박광성;최윤호;박진배
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.143-146
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    • 1997
  • In this paper, we propose a fuzzy-supervised nonlinear H$_{\infty}$ controller which guarantees the robustness and has exact tracking performance for robot manipulator with system parameter uncertainty and exogenous disturbance, The proposed controller which is based on robotic H$_{\infty}$ controller has fuzzy supervisor which decides the optimal control input weighting value through fuzzy making-decision process. Owing to the fuzzy supervisor, The proposed controller can take the optimal control input. Then, we will apply the proposed controller to rigid robot manipulator to verify the performance of our controller.r.

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Robust observer-based $H_{\infty}$ controller design for descriptor systems using an LMI

  • Kim, Jong-Hae;Lee, Joong-Jae;Ahn, Seong-Joon;Ahn, Seung-Joon
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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    • pp.1843-1846
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    • 2004
  • This paper considers a robust observer-based $H_{\infty}$ controller design method for descriptor systems with parameter uncertainties using just one LMI condition. The sufficient condition for the existence of controller and the controller design method are presented by a perfect LMI condition in terms of all variables using singular value decomposition, Schur complement, and change of variables. Therefore, one of the main advantages is that a robust observer-based $H_{\infty}$ controller is found by solving one LMI condition compared with existing results. Numerical example is given to illustrate the effectiveness of the proposed controller design method.

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LMI를 이용한 공기압 실린더의 상태제어기 설계 (LMI-Based Controller Design of Pneumatic Cylinder)

  • 장지성;지상원;김영복
    • 유공압시스템학회논문집
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    • 제5권1호
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    • pp.1-5
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    • 2008
  • Pneumatic driving systems have hard non-linear characteristic and large friction force compared with driving power. Hence, it cannot be robust against parameter uncertainties, modelling error, disturbance and noise. In this study, we apply a mixed $H_2/H_{\infty}$ control to the generalized plant for a pneumatic driving apparatus system including parameter uncertainty and disturbance. In order to design the $H_2/H_{\infty}$ controller, we use the LMI technique. To evaluate control performance and robust stability of the designed controller, we compare it with a conventional controller such as PVA(Position-Velocity-Acceleration state controller) using the simulation results. As a result, it can be known that designed controller shows better robust stability than the conventional controller.

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$H_2$ 기법을 이용한 2자유도 표준 모델의 정방 비결합 제어기 설계 ($H_2$ Design of the Square Decoupling Controller based on the Two-Degree-of-Freedom Standard Model)

  • 최군호;조용석;박기헌
    • 대한전기학회논문지:전력기술부문A
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    • 제48권8호
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    • pp.980-986
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    • 1999
  • In this paper, the optimal controller which decouples a coupled multivariable system and minimizes a quadratic performance index is proposed. Design of the controller is based on the two-degree-of-freedom standard model. The class of all stabilizing and decoupling controllers is parametrized first and the $H^{2}$optimal controller is obtained by using this parametrized form. An illustrative example for a $2{\times}2$ plant is given.

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자기학습 퍼지제어기를 사용한 하이브리드 제어기 설계 (A Design of Hybrid Controller Using Self-Learning Fuzzy Controller)

  • 양혜원;이호형
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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    • pp.207-209
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    • 1995
  • The PID controller is widely used due to its fast response and robustness. But its performance is not so good compared with modem controllers such as adaptive, robust, fuzzy, neural controller. Therefore, it is natural to replace PID controller by modem controllers. But, the problem is that modem controller can not be easily applied to the real time process. Hence, this paper proposes such a structure that PID controller and Self-Learning Fuzzy Controller(SLFC) are in parallel with each other. The parameter of SLFC will be updated by gradient descent method using neuro - identifier. The usefulness of this hybrid controller will be proved by simulation results.

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Investigation of the Different Control Approaches for a Remote Sensing Satellite Attitude Control

  • Won, Chang-Hee;Lee, Jeong-Sook
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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    • pp.35-40
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    • 1998
  • A nonlinear attitude model of a satellite with thrusters, magnetic torquers and a reaction wheel cluster is developed. Then the linearized version of this satellite attitude model is derived far the attitude hold mode. For comparison purpose, various control methods are considered for attitude control of a satellite. We consider a proportional derivative controller which is actually used in the remote sensing satellite, KOMPSAT. Then a comparison is made with an H$_2$controller, an H$\sub$$\infty$/ controller, and a mixed H$_2$/ H$\sub$$\infty$/ controller. The analysis and numerical studies show that the proportional derivative controller's performance is limited in the sense that the pitch angle cannot approach zero. The simulations also show that among three control methods (H$_2$control, H$\sub$$\infty$/ control, and mixed H$_2$/ H$\sub$$\infty$/ control) H$_2$control has the fastest response time, H$\sub$$\infty$/ control has the slowest and mixed H$_2$/ H$\sub$$\infty$/ control comes in between the first two control methods. On the other hand, H$\sub$$\infty$/ control used least amount of control effort while H$_2$control required the most.

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