• Title/Summary/Keyword: Model reference tracking control

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Adaptive Control for Tracking Trajectory of a Two-Wheeled Welding Mobile Robot with Unknown Parameters

  • Bui, Trong Hieu;Chung, Tan-Lam;Suh, Jin-Ho;Kim, Sang-Bong
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.191-196
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    • 2003
  • This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

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A Study on Novel High Performance SRM Drive (새로운 고성능 SRM 운전방식에 관한 연구)

  • 오인석;구인수;박한웅;성세진
    • The Transactions of the Korean Institute of Power Electronics
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    • v.3 no.4
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    • pp.399-406
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    • 1998
  • This paper proposes an instantaneous torque control method for the high performance SRM drive. In first, we e establish SRM model with the characte1istics of the torque. phase current and rotor position which were measured in t the experimental SRM. Based on this model. the reference torque waveform to minimize torque ripple is obtained by t the control of resultant torque considering phase torque overlap according to the variation of load and speed. And the r reference current waveform for the tracking of reference torque are decided. The control method for tracking the r reference current is used the delta modulation technique. The proposed method is validated by the comparing with S simulation and experimental results.

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Adaptive Pole Placement Control of Nonminimum Phase Plants Using Reference Model (비최소 위상 공정의 기준모델을 이용한 극배치 적응제어)

  • 홍연찬;박용석;김중환;최계근
    • Journal of the Korean Institute of Telematics and Electronics
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    • v.25 no.9
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    • pp.1046-1050
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    • 1988
  • A direct adaptive control algorithm for discrete-time SISO systems with arbitrary zeros is presented in a general way by making use of reference model. A linear equation error model is formulated for estimating both the controller parameters and the auxiliary parameters. With this algorithm, asyptotic tracking within an arbitrarily small error can be achieved.

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A Robust Model Reference Adaptive Control with a Modified $\sigma$-modification algorithm (새로운 $\sigma$-변형 알고리즘을 사용한 강인한 기준모델 적응제어)

  • 이호진;정종대;최계근
    • Journal of the Korean Institute of Telematics and Electronics
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    • v.26 no.9
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    • pp.1322-1331
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    • 1989
  • This paper proposes a new adaptation algorithm with which a model reference adaptive control can give a local boundedness of the tracking error applied to a continuous-time linear time-invariant single-input single-output plant whose reduced-order model is of relative degree 1 and whose unmodeled dynamics may be represented in a sigular perturbation form. With the addition of an offset term and an extra adaptation structure, this algorithm is shown to have a robustness property in the sense that this gives zero residual tracking errors when the unmodeled dynamics are disappeared.

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Trajectory Tracking Control of Field Robot using Adaptive Control and System Identification (적응제어 및 시스템 규명을 이용한 Field Robot의 궤적 추종 제어)

  • 서우석;김승수;양순용;이병룡;안경관
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.04a
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    • pp.469-474
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    • 2002
  • The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we have developed an automatic excavation system and adaptive control system. A model- reference adaptive controller has been designed on the model that is obtained through off-line System Identification. It is illustrated by computer simulations that the proposed control system gives good performances in the trajectory tracking control and adaptation to parameter variation.

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Path Following Control For Mobile Robots Using Model Algorithm Control (모델 알고리즘 제어를 이용한 이동 로봇의 경로 추적 제어)

  • Zhang, Yuanliang;Chong, Kil-To
    • Proceedings of the KIEE Conference
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    • 2007.10a
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    • pp.261-262
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    • 2007
  • This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steeredwheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is controlled to track several different reference paths. It is shown that the control strategy is feasible.

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A Design on Reference Model Following Fuzzy Control System Using Hysteresis element (비선형 요소를 이용한 기준 모델 추종형 퍼지 제어 시스템의 설계)

  • Hwang, C.S.;Nam, K.W.;Jeong, H.S.;Kim, D.W.
    • Proceedings of the KIEE Conference
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    • 1996.07b
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    • pp.974-976
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    • 1996
  • In this paper, a reference model following control system using a fuzzy logic controller(FLC) is proposed By using an integrator and a nonlinear hysteresis element, a reference model whose response has no overshoot and fast rise time is designed. A FLC is designed to follow as close as possible to the response of the reference model. The proposed design method is shown that the robustness and the optimal tracking property can be achieved under modeling error, disturbance and parameter perturbations. The effectiveness of the proposed design method is verified through the simulation that compare using the FLC with using a $H_{\infty}$ controller.

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Robust Adaptive Sliding Mode Control of Robot Manipulators Using a Model Reference Approach

  • Lee, Tae-Hwan;Bae, Jun-Kyung
    • Journal of Electrical Engineering and information Science
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    • v.3 no.1
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    • pp.36-44
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    • 1998
  • In this paper, a robust adaptive sliding mode control algorithm for accurate trajectory tracking of robot manipulators is proposed, with unknown parameters being estimated on-line. The controller is designed based on a Lyapunov method, which consists of adaptive feed-forward compensation part and a discontinuous control part. It is shown that, in the presence of the uncertainty and the disturbances arising from the actuator or some other causes, the tracking errors is bound to converge to zero asymptotically. An illustrative example is given to demonstrate the results of the propose method.

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A Line-integral Fuzzy Lyapunov Functional Approach to Sampled-data Tracking Control of Takagi-Sugeno Fuzzy Systems

  • Kim, Han Sol;Joo, Young Hoon
    • Journal of Electrical Engineering and Technology
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    • v.13 no.6
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    • pp.2521-2529
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    • 2018
  • This paper deals with a sampled-data tracking control problem for the Takagi-Sugeno fuzzy system with external disturbances. We derive a stability condition guaranteeing both asymptotic stability and H-infinity tracking performance by employing a newly proposed time-dependent line-integral fuzzy Lyapunov-Krasovskii functional. A new integral inequality is also introduced, by which the proposed stability condition is formulated in terms of linear matrix inequalities. Finally, the effectiveness of the proposed method is demonstrated through a simulation example.

Design of an Adaptive Fuzzy Controller and Its Application to Controlling Uncertain Chaotic Systems

  • Rark, Chang-woo;Lee, Chang-Hoon;Kim, Jung-Hwan;Kim, Seungho;Park, Mignon
    • Transactions on Control, Automation and Systems Engineering
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    • v.3 no.2
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    • pp.95-105
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    • 2001
  • In this paper, in order to control uncertain chaotic system, an adaptive fuzzy control(AFC) scheme is developed for the multi-input/multi-output plants represented by the Takagi-Sugeno(T-S) fuzzy models. The proposed AFC scheme provides robust tracking of a desired signal for the T-S fuzzy systems with uncertain parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the chaotic state tracks the state of the stable reference model(SRM) asymptotically with time for any bounded reference input signal. The suggested AFC design technique is applied for the control of an uncertain Lorenz system based on T-S fuzzy model such as stabilization, synchronization and chaotic model following control(CMFC).

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