• Title/Summary/Keyword: Sampled-data control system

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H Sampled-Data Control of Takagi-Sugeno Fuzzy System (타카기-수게노 퍼지 시스템의 H 샘플치 제어)

  • Kim, Do Wan
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.11
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    • pp.1142-1146
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    • 2014
  • This paper addresses on a $H_{\infty}$ sampled-data stabilization of a Takagi-Sugeno (T-S) fuzzy system. The sampled-data stabilization problem is formulated as a discrete-time stabilization one via a direct discrete-time design approach. It is shown that the sampled-data fuzzy control system is asymptotically stable whenever its exactly discretized model is asymptotically stable. Based on an exact discrete-time model, sufficient design conditions are derived in the format of linear matrix inequalities (LMIs). An example is provided to illustrate the effectiveness of the proposed methodology.

Stability Criterion for Sampled-Data System with Sliding Mode Controller (슬라이딩 모드 제어기가 적용된 샘플치 시스템에 대한 안정도 판별 조건)

  • Park, Heum-Yong;Jo, Young-Hun;Park, Kang-Bak
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.2
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    • pp.135-138
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    • 2011
  • Although most of control methods have been studied in the continuous-time domain, the actual control systems have been implemented using MCU (Micro Control Unit) and/or microprocessors so that the overall systems turn to be sampled-data systems. In this case, the stability criterion of the closed-loop system is not easy to derive. In this paper, a simple stability criterion for the sampled-data system with sliding mode controller is derived.

Sampled-Data MPC for Leader-Following of Multi-Mobile Robot System (다중모바일로봇의 리더추종을 위한 샘플데이타 모델예측제어)

  • Han, Seungyong;Lee, Sangmoon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.67 no.2
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    • pp.308-313
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    • 2018
  • In this paper, we propose a sampled-data model predictive tracking control deign for leader-following control of multi-mobile robot system. The error dynamics of leader-following robots is modeled as a Linear Parameter Varying (LPV) model. Also, the Lyapunov function is presented to guarantee stability of the networked control system. Based on the stabilization condition using a quadratic Lyapunov function approach, model predictive sampled-data controller is designed. Finally, the leader-following control of multi mobile robots is simulated to show effectiveness of the proposed method.

Intelligent Digital Redesign Via Complete State-Matching (완벽한 상태정합을 이용한 지능형 디지털 재설계)

  • Kim, Do-Wan;Joo, Young-Hoon;Park, Jin-Bae
    • Proceedings of the KIEE Conference
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    • 2006.04a
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    • pp.276-278
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    • 2006
  • In this paper, a complete solution to fuzzy-model-based digital redesign problem (IDR) for sampled-data nonlinear systems is presented, The term of intelligent digital redesign (IDR) is to design a digital fuzzy controller such that the sampled-data closed-loop fuzzy system is equivalent to the continuous-time closed-loop fuzzy system using the state matching, Its solution is simply obtained by linear transformation, Under the proposed sampled-data controller, the states of the sampled-data and continuous-time fuzzy system are completely matched at every sampling points.

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H Sampled-Data Control of LPV Systems with Time-varying Delay (시변지연을 가지는 LPV시스템의 H 샘플데이타 제어)

  • Liu, Yajuan;Lee, Sangmoon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.64 no.1
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    • pp.121-127
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    • 2015
  • This paper considers the problem of sampled-data control for continuous linear parameter varying (LPV) systems. It is assumed that the sampling periods are arbitrarily varying but bounded. Based on the input delay approach, the sampled-data control LPV system is transformed into a continuous time-delay LPV system. Some less conservative stabilization results represented by LMI (Linear Matrix Inequality) are obtained by using the Lyapunov-Krasovskii functional method and the reciprocally combination approach. The proposed method for the designed gain matrix should guarantee asymptotic stability and a specified level of performance on the closed-loop hybrid system. Numerical examples are presented to demonstrate the effectiveness and the improvement of the proposed method.

The Ultimate Bound of Discrete Sliding Mode Control System with Short Sampling Period for DC Motor System (DC 모터 시스템을 위한 짧은 샘플링 시간을 갖는 이산슬라이딩 모드의 최종 수렴범위)

  • Park, Heum-Yong;Jo, Young-Hun;Park, Kang-Bak
    • Journal of Institute of Control, Robotics and Systems
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    • v.16 no.3
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    • pp.245-248
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    • 2010
  • Almost all of control schemes proposed so far have been designed in the continuous-time domain theoretically. Actual systems, however, have been implemented in the discrete-time domain since Micro Control Unit(MCU) and/or microprocessors have been used for the controllers. Thus, the overall system turned to be a sampled-data system, and generally speaking, the ultimate error cannot converge to zero in the actual system even though the proposed control algorithm showed the asymptotic stability in the continuous-time domain. In this paper, therefore, the ultimate error bound of a sampled data system with a short sampling period has been investigated. The ultimate error is shown to be related in the sampling period.

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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    • v.1 no.1
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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.

Digital Implementation of $H_\infty$ Optimal Controller ($H_\infty$ 최적제어기의 이산화 구현)

  • 김광우;오도창;박홍배
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.471-476
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    • 1993
  • In this paper we proposed the digital implementation of an $H^{\infty}$-optimal controller using lifting technique and $H^{\infty}$-control theory. The discrete controller is obtained through iterative adjustment of sampling time and weighting function, which can ber performed by computing the L$_{2}$-induced input to output norm of the sampled-data system with bandlimited exogenous input. The resulting sampled-data bandlimited exogenous input. The resulting sampled-data system is stable and the performance including inter-sampling behaviour of the hybrid system can be also optimized.d.

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An improved linear sampled-data output regulators (개선된 선형 샘플치 출력 조절기)

  • 정선태
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.1726-1729
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    • 1997
  • In general, the solvability of linear robust output regulation problem are not preserved under time-sampling. Thus, it is found that the digital regulator implemented by itme-sampling of anlog output regulator designed based on the continuous-time linear system model is nothing but a 1st order approximation with respect to time-sampling. By the way, one can design an improved sampled-data regulator with respect to sampling time by utilizing the intrinsic structure of the system. In this paper, we study the system structures which it is possible to design an improved sampled-data regulator with respect to sampling time.

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The Sampled-Data $H_{\infty}$ Problem: Obtaining an equivalent discrete-time system via a closed-loop expression of worst-case disturbance (샘플치 $H_{\infty}$ 문제: 최악의 외란의 폐경로 표현을 통한 등가의 이산시간 시스템 구현)

  • 공민종;조창호;이상철;조도현;이상효
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.340-340
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    • 2000
  • This paper aims at deriving an equivalent finite dimensional discrete-time system for H$_{\infty}$ type problem for sampled-data control systems. A widely used ph is based on the lifting technique, but it needs somewhat complicate computation. Instead this paper derives an equivalent finite-dimensional discrete-time system directly from a description of the sampled-data system which is achieved via a closed-loop expression of the worst-case intersample disturbance.

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