• Title/Summary/Keyword: Model reference tracking control

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Web Lateral Control of Cold Rolling Mill Systems Using a Robust PID Control (강인 PID 제어를 이용한 냉간압연 시스템의 웹 횡방향 제어)

  • Park, Chintac;Kim, In-Soo;Lee, Young-Jin;Kim, Jong-Shik;Lee, Man-Hyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.5
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    • pp.373-384
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    • 2002
  • This paper presents a robust PID controller design technique using the concept of model matching method in the frequency domain. To design the robust PID controller satisfying disturbance attenuation and robust tracking property for a reference input, first an H$\infty$ controller satisfying given performance is designed using the H$\infty$ control method. And then, the parameters(proportional, integral, and derivative gains) of the robust PID controller are determined using the model matching at frequency domain. The proposed technique is applied to a position controller design of the web. The simulation results show that the proposed robust PID controller satisfies disturbance attenuation and tracking property.

Nonlinear Adaptive Control of Fermentation Process in Stirred Tank Bioreactor

  • Kim, Hak-Kyeong;Nguyen, Tan-Tien;Nam soo Jeong;Kim, Sang-Bong
    • Transactions on Control, Automation and Systems Engineering
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    • v.4 no.4
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    • pp.277-282
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    • 2002
  • This paper proposes a nonlinear adaptive controller based on back-stepping method for tracking reference substrate concentration by manipulating dilution rate in a continuous baker's yeast cultivating process in stirred tank bioreactor. Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The Haldane model for the specific growth rate depending on only substrate concentration is used in this paper. Due to the uncertainty of specific growth rate, it has been modified as a function including the unknown parameter with known bounded values. The substrate concentration in the bioreactor and feed line are measured. The deviation from the reference is observed when the external disturbance such as the change of the feed is introduced to the system. The effectiveness of the proposed controller is shown through simulation results in continuous system.

Preliminary Performance Analysis of Satellite Formation Flying Testbed by Attitude Tracking Experiment (자세추적 실험을 통한 인공위성 편대비행 테스트베드의 예비 성능분석)

  • Eun, Youngho;Park, Chandeok;Park, Sang-Young
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.44 no.5
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    • pp.416-422
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    • 2016
  • This paper presents preliminary performance analysis of a satellite formation flying testbed, which is under development by Astrodynamics and Control Laboratory, Department of Astronomy, Yonsei University. A model reference adaptive controller (MRAC) with a first-order reference model is chosen to enhance the response of reaction wheel system which is subject to uncertainties caused by unmodelled dynamics and measurement noise. In addition, an on-line parameter estimation (OPE) technique based on the least square is combined to eliminate the effect of angular measurement noise by estimating the moment of inertia. Both numerical simulations and hardware experiments with MRAC support the effectiveness and applicability of the adaptive control scheme, which maintains the tracking error below $0.25^{\circ}$ for the entire time span. However, the high frequency control input generated in hardware experiment strongly suggests design modifications to reduce the effect of deadzone.

Fuzzy Modeling and Control of Wheeled Mobile Robot

  • Kang, Jin-Shik
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.3 no.1
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    • pp.58-65
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    • 2003
  • In this paper, a new model, which is a Takagi-Sugeno fuzzy model, for mobile robot is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and the outer loop is a PI controller designed for tracking the reference input, is suggested. Because the robot dynamics is nonlinear, it requires the controller to be insensitive to the nonlinear term. To achieve this objective, the model is developed by well known T-S fuzzy model. The design algorithm of inner state-feedback loop is regional pole-placement. In this paper, regions, for which poles of the inner state feedback loop are lie in, are formulated by LMI's. By solving these LMI's, we can obtain the state feedback gains for T-S fuzzy system. And this paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ(linear quadratic) cost. By using these properties, it is also shown in this paper that the PI controller can be obtained by solving the LQ problem.

Double-Objective Finite Control Set Model-Free Predictive Control with DSVM for PMSM Drives

  • Zhao, Beishi;Li, Hongmei;Mao, Jingkui
    • Journal of Power Electronics
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    • v.19 no.1
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    • pp.168-178
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    • 2019
  • Discrete space vector modulation (DSVM) is an effective method to improve the steady-state performance of the finite control set predictive control for permanent magnet synchronous motor drive systems. However, it requires complex computations due to the presence of numerous virtual voltage vectors. This paper proposes an improved finite control set model-free predictive control using DSVM to reduce the computational burden. First, model-free deadbeat current control is used to generate the reference voltage vector. Then, based on the principle that the voltage vector closest to the reference voltage vector minimizes the cost function, the optimal voltage vector is obtained in an effective way which avoids evaluation of the cost function. Additionally, in order to implement double-objective control, a two-level decisional cost function is designed to sequentially reduce the stator currents tracking error and the inverter switching frequency. The effectiveness of the proposed control is validated based on experimental tests.

CURRENT CONTROL FOR PWM AC-DC CONVERTER USING SINUSOIDAL TRACKING CONTROLLER

  • Woo, Jung-In;Heo, Tae-Won;Lee, Hyun-Woo;Kim, Choon-Sam;Jung, Yung-Il
    • Proceedings of the KIPE Conference
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    • 1998.10a
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    • pp.928-933
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    • 1998
  • This paper presents a novel current control system to eliminate the steady state control error and to improve the transient characteristics for PWM AC-DC converter. A general mathematical model of the converter that is represented as a state-space model is first established. The state-space model is used for the simulation of PWM switching converter with the proposed current control system. The proposed sinusoidal tracking control system that does not require coordinate transformations using principle of the integral controller is described. It is proved that the steady state deviation reduces to zero through a transfer function of source current control system. Finally, it is seen that simulations agree with the experimental results in source current and reference of controlled ac current loop.

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Modeling and Adaptive Motion Tracking Control of Two-Wheeled Welding Mobile Robot (WMR) (용접용 이륜 이동로봇의 모델링 및 적응 추종 제어)

  • Suh, Jin-Ho;Bui, Tring Hieu;Nguyen, Tan Tien;Kim, Sang-Bong
    • Proceedings of the KSME Conference
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    • 2003.04a
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    • pp.786-791
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    • 2003
  • This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.

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Trajectory Tracking Control of Mobile Robot via T-S Fuzzy Modeling (T-S 퍼지 모델링을 통한 이동 로봇의 궤도 추적 제어)

  • Hwang, Keun-Woo;Cheon, Seok-Hyo;Park, Seung-Kyu;Yoon, Tae-Sung
    • Proceedings of the KIEE Conference
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    • 2011.07a
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    • pp.1846-1847
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    • 2011
  • In this paper, for the trajectory tracking control of mobile robot, firstly, we obtained the T-S fuzzy models from the tracking-error models, one of which has nonlinear form and the other is linearized around the reference trajectory. Then the tracking control inputs are designed using the proposed fuzzy linearization method and the existed PDC method. Lastly, the tracking performance is tested and compared for each model through simulation.

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Adaptive Control of the Atomic Force Microscope of Tapping Mode: Chaotic Behavior Analysis (진동방식의 원자간력 현미경으로 표면형상 측정시 발행하는 혼돈현상의 적응제어)

  • Kang, Dong-Hunn;Hong, Keum-Shik
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.1
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    • pp.57-65
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    • 2000
  • In this paper, a model reference adaptive control for the atomic force microscope (AFM) of tapping mode is investigated. The dynamics between the AFM system and al sample is mathematically modeled as a second order spring-mass-damper system with oscillatory inputs. The attractive and repulsive forces between the tip of the AFM system and the sample are derived using the Lennard-Jones potential energy. By non-dimensionalizing the displacement of the tip and the input frequency, the chaotic behavior near a resonance frequency is better depicted through the non-dimensionalized equations. Four nonlinear analysis techniques, a phase portrait, sensitive dependence on initial conditions, a power spectral density function, and a Pomcare map are investigated. Because the equations of motion derived in this paper involve unknown parameter values such as the damping effect of the air and the interaction constants between materials, the standard model reference adaptive control is adopted. Two control objectives, the prevention of chaos and the tracking of reference signal, are pursued. Simulation results are included.

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A study on the model follwing adaptive control system of industrial robtoic manipulatior for factory automation

  • Han, Sung-Hyun;Lee, Man-Hyung
    • 제어로봇시스템학회:학술대회논문집
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    • 1988.10b
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    • pp.993-998
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    • 1988
  • Adaptive control system has evolved as an attempt to avoid degradation of the dynamic performance of a control system when environmental variations occurs. While the feedback control system is oriented toward the elimination of the effect of state perturbations, the adaptive control system is oriented toward the elimination of the effect of structural perturbation, upon the performances of the control system. The model reference adaptive controller is utilized in velocity loop controller for positioning and tracking is designed based on the linear decoupled dynamics.

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