• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.4
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• pp.17-24
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• 2011

This paper presents a control scheme to cancel periodic disturbance with unknown frequency for optical disc drives. The control scheme consists of an output regulator and a frequency adaptive algorithm. Here, the frequency adaptive algorithm based on IMP plays a role in obtaining a frequency of periodic disturbance. The stability analysis of whole system and disturbance rejection performance are proven by the singular perturbation theory. The contribution of this paper are as follows. (1) There is no design constraints of the frequency range. (2) Ability for perfect disturbance rejection is preserved even with uncertain plant model.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.353-353
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• 2000

To control a light weight flexible manipulator, a composite fuzzy controller is proposed. The controller is designed based on two time scaled models. A singular perturbation technique is applied for deriving the models. The proposed controller, however, does not use the complex equilibrium manifold equations, which are usually needed in the controller based on the two time scaled models. The controller for a slow sub-model and a fast sub-model are T-S type fuzzy controllers, which use 3 linguistic variables for each sub-model. A step trajectory is used in simulations as a reference trajectory of joint motions. The results of simulations with the proposed controller show excellent damping of flexible motions compared to a controller with derivative control of flexible motions.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.5
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• pp.27-34
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• 1998

This paper is on the discrete model reduction method over disc-type analytic domains. We define hankel singular value over the disc that is mapped by standard bilinear mapping. And the generalized singular perturbation approximation and the direct truncation are generalized to GSPA and DT over a disc. Furthermore, it is shown that the reduced order model over a smaller domaing has a smaller .inf.-norm error bound. And the poposed reduction method is used to obtain the regional pole placement property.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.726-732
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• 2005

This paper proposes an autolanding guidance and control algorithm with the lateral guidance law. This algorithm is basically formulated and designed in feedback linearization based on singular perturbation. Main features of this algorithm are two facts. One of those is that when a certain situation happens that airplane must realign to the runway suddenly assigned due to unexpected environment change around the landing site, the heading guidance in this algorithm is very valuable, and the other is the fact that the inner loop control of this algorithm is able to be designed directly based on the Handling Quality Requirements that most flight control systems must be satisfied with. To illustrate the potential of this algorithm, 6-DOF nonlinear simulation based on the nonlinear airplane model shown in Ref.[11] is carried out. The simulation results showed that the altitude response to the given landing trajectory is accurate, and the airplane heading alignment to the assigned runway from the lateral deviation is successful. It is noted that this algorithm is also applicable to unmanned aerial vehicle, which can be retrieved in autolanding technique, where the runway far retrieving the vehicle is in any direction for example at war field.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.333-333
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• 2000

When the generalized singular perturbation method is used for model reduction, the state variables of the original system is reconstructed from the reduced order model. The state reduction error is defined, which shows how well the reconstructed state variables approximate the state variables of the original system equation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.64-68
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• 1996

In this note, we propose the discrete model reduction method over disc-type analytic domains. We define Hankel singular value over the disc that is mapped by standard bilinear mapping. And GSPA(generalized singular perturbation approximation) and DT(direct truncation) are generalized to GSPA and DT over a disc. Furthermore we show that the reduced order model over a smaller domain has a smaller L$_{\infty}$ norm error bound..

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.31 no.3
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• pp.39-49
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• 2003

The delta operator approach and the singular perturbation technique are introduced. The former reduces the round-off error in the numerical computation. The latter reduces computing time by decoupling the original system into the fast and slow sub-systems. The aircraft dynamics consists of the Phugoid and short-period motions whether its model is longitudinal or lateral. In this paper, an approximated solutions of lateral dynamic model of Beaver obtained by using those two methods in compared with the exact solution. For open-loop system and closed-loop system, and approximated solution gets identical to the exact solution with only one iteration and without iteration, respectively. Therefore, it is shown that implementing those approaches is very effective in the flight dynamic and control.

• International Journal of Control, Automation, and Systems
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• v.6 no.6
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• pp.836-844
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• 2008

This paper presents an approach to order reduction of linear parameter varying controller for polytopic model. Feasible solutions which satisfy relevant linear matrix inequalities for constructing full-order parameter varying controller evaluated at each polytopic vertices are first found. Next, sufficient conditions are derived for the existence of a right coprime factorization of parameter varying controller. Furthermore, a singular perturbation approximation for time invariant systems is generalized to reduce full-order parameter varying controller via parameter varying right coprime factorization. This generalization is based on solutions of the parameter varying Lyapunov inequalities. The closed loop performance caused by using the reduced order controller is developed. To examine the performance of the reduced-order parameter varying controller, the proposed method is applied to reduce vibration of flexible structures having the transverse-torsional coupled vibration modes.