• International Journal of Automotive Technology
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• 제8권4호
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• pp.445-453
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• 2007

This paper presents a robust controller design approach for improving vehicle dynamic roll motion performance and guaranteeing the closed-loop system stability in spite of vehicle parameter variations resulting from aging elements, loading patterns, and driving conditions, etc. The designed controller is linear parameter-varying (LPV) in terms of the time-varying parameters; its control objective is to minimise the $H_{\infty}$ performance from the steering input to the roll angle while satisfying the closed-loop pole placement constraint such that the optimal dynamic roll motion performance is achieved and robust stability is guaranteed. The sufficient conditions for designing such a controller are given as a finite number of linear matrix inequalities (LMIs). Numerical simulation using the three-degree-of-freedom (3-DOF) yaw-roll vehicle model is presented. It shows that the designed controller can effectively improve the vehicle dynamic roll angle response during J-turn or fishhook maneuver when the vehicle's forward velocity and the roll stiffness are varied significantly.

• Journal of Electrical Engineering and Technology
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• 제10권5호
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• pp.2162-2169
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• 2015

Cruise control is a technology for automatically maintaining a steady speed of vehicle as set by the driver via controlling throttle valve and brake of vehicle. In this paper we investigate cruise controller design method with consideration for distance to vehicle ahead. We employ linear time varying (LTV) model to describe longitudinal vehicle dynamic motion. With this LTV system we approximately model the nonlinear dynamics of vehicle speed by frequent update of the system parameters. In addition we reformulate the LTV system by transforming distance to leading vehicle into variation of system parameters of the model. Note that in conventional control problem formulation this distance is considered as disturbance which should be rejected. Consequently a controller can be designed by pole placement at each instance of parameter update, based on the linear model with the present system parameters. The validity of this design method is examined by simulation study.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.109-111
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• 1989

In this paper, we propose a new method of parameter est mat ion which modifies the exponentially weighted RLS (WRLS) method using asliding window. It can be used in adaptive control for a class of linear tine varying system. Computer simulations show that our new method tracts rapidly time varying parameters more effectively than WRLS.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.995-1000
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• 2004

A digital adaptive flight control system is presented for a Japanese automatic landing flight experiment vehicle (ALFLEX). In previous adaptive control systems based on a linear-parameter-varying (LPV) form, the output behavior was excellent, while the behavior of the adjusted parameters was unsatisfactory. In the present study, to obtain a more appropriate parameter adjustment law, the relationship between the coefficient matrices in a continuous-time state equation and the coefficients of a pulse transfer function in a discrete system for conventional aircraft is investigated. As a result, it is revealed that the coefficients of the numerator can be treated as a linear function of dynamic pressure (linear-parameter-varying: LPV), while the coefficients of the denominator can be treated as constant (linear-time-invariant: LTI). From the above analysis, an improved parameter adjustment law is derived by reducing the number of the adjustment parameters. Simulation results also revealed both good output tracking and good parameter adjustment compared with the previous results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.29-33
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• 2007

본 연구에서는 RLS(Rescursive Least Square) 알고리즘을 이용하여 정전용량형 습도센서를 사용한 원격 RF 센서 시스템의 시변 파라메타를 추정하고자 한다. IC 칩 형태의 원격 RF 센서 시스템이 가지는 구성의 복잡성 그리고 전력소모 문제를 해결하기 위해 보다 간단한 유도결합모델이 제안된다. 모델기반의 RLS 알고리즘을 수학적인 모델로 유도된 시스템에 적용시키기 위해 페이저법을 이용하여 모델의 파라메타를 재배열한다. 오차 제곱합의 수렴특성을 가진 RLS 알고리즘을 이용하여 시변 파라메타를 추정하며, 잡음을 내포한 측정 데이터에 대한 추정 성능을 확인함으로써 그 유효성을 검증하고자 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.913-916
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• 1988

Indirect adaptive pole assignment PID controllers for unknown systems with time varying delay, is proposed. Unknown system parameters are estimated by recursive least square method, and time varying delay is estimated using indirect predictors. Since the order of parameter vectors didn't increase, the computational burden is not largely increased in spite of using indirect adaptive control method with time varying delay estimation. Computer simulation is performed to illustrate the efficiency of the proposed method.

• 대한전기학회논문지
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• 제40권4호
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• pp.427-438
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• 1991

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic system is preented. In the learning control structure, the control input converges globally and asymtotically to the desired input as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of the time-duration of trajectories, it may be achieved with system trajectories with small duration. In addition, the proposd learning control schemes are applicable to time-varying parametric systems as well as time-invariant systems, because the parameter estimation is performed at each fixed time along the iteration. In the parameter estimator, the acceleration information as well as the inversion of estimated inertia matrix are not used at all, which makes the proposed learning control schemes more feasible.

• 전기학회논문지
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• 제64권1호
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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.

• 한국정밀공학회지
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• 제18권7호
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• pp.53-64
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• 2001

The gain-scheduling control technique is vary useful in the control problem incorporating time varying parameters which can be measured in real time. Based on these facts, in this paper the sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. But, in this paper, we introduce and synthesize a new type of swing motion control system. In this control system, a small auxiliary mass is installed on the spreader. And the actuator reacts against the auxiliary mass, applying inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we assume that an plant parameter is varying and apply the gain-scheduling control technique design the anti-swing motion control system for the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• 전기학회논문지
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• 제62권4호
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• pp.529-535
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• 2013

This paper considers the problem of robust stability for uncertain discrete-time interval time-varying delayed descriptor systems using any combinations of quantization and overflow nonlinearities. First, delay-dependent linear matrix inequality (LMI) condition for discrete-time descriptor systems with time-varying delay and quantization/overflow nonlinearities is presented by proper Lyapunov function. Second, it is shown that the obtained condition can be extended into descriptor systems with uncertainties such as norm-bounded parameter uncertainties and polytopic uncertainties by some useful lemmas. The proposed results can be applied to both descriptor systems and non-descriptor systems. Finally, numerical examples are shown to illustrate the effectiveness and less conservativeness.