• Nuclear Engineering and Technology
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• v.52 no.9
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• pp.2017-2024
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• 2020

In this study, a fractional order proportional integral derivative (FOPID) controller is designed to create the reference power trajectory and to conquer the uncertainties and external disturbances. A fractional nonlinear model was utilized to describe the nuclear reactor dynamic behaviour considering thermal-hydraulic effects. The controller parameters were tuned using optimization method in Matlab/Simulink. The FOPID controller was simulated using Matlab/Simulink and the controller performance was evaluated for Hard variation of the reference power and compared with that of integer order a proportional integral derivative (IOPID) controller by two models of fractional neutron point kinetic (FNPK) and classical neutron point kinetic (CNPK). Also, the FOPID controller robustness was appraised against the external disturbance and uncertainties. Simulation results showed that the FOPID controller has the faster response of the control attempt signal and the smaller tracking error with respect to the IOPID in tracking the reference power trajectory. In addition, the results demonstrated the ability of FOPID controller in disturbance rejection and exhibited the good robustness of controller against uncertainty.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.99-102
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• 1996

A novel iterative learning control scheme comprising a unique feedforward learning controller and a disturbance observer is proposed. Disturbance observer compensates disturbance due to parameter variations, mechanical nonlinearities, unmodeled dynamics and external disturbances. The convergence and robustness of the proposed controller is proved by the method based on Lyapunov stability theorem. The results of numerical simulation are shown to verify the effectiveness of the proposed control scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.380-384
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• 1996

This paper represents an adaptive position controller with the disturbance observer for multi-axis servo system. The overall control system consists of three parts : the position controller, the disturbance observer with free parameters and cross-coupled controller which enhances contouring performance by reducing errors. Using two-degrees-of freedom conception, we design the command input response and the closed loop characteristics independently. The servo system can improve the closed loop characteristics without affecting the command input response. The characteristics of the closed loop system is improved by suppressing disturbance torque effectively with the disturbance observer. Moreover, the cross-coupled controller enhances tracking performance. Thus total position control performance is improved. Finally, the performance of the proposed controller shows that it improves the contouring performance along with the reference trajectory in the XY-table.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.305-308
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• 1997

The on-line calculation method is developed to obtain the temperature trajectory that brings the reactants to the desired state in batch styrene polymerization reactor. The temperature trajectory is obtained by applying the moments of the polymer concentration to the 2-step calculation method. The computer simulation is also carried out to verify the superiority of the on-line method to the off-line one. When a temperature disturbance of constant size is introduced, the off-line results shows considerable deviation from the target degree of polymerization. The on-line strategy set up a new trajectory to reach the desired state by using the current state of the reactor. Therefore, the on-line strategy deals with the changes of the system more adequately than the off-line strategy.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.812-814
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• 1999

In this paper, we propose a new control algorithm based on the neural network(NN) feedback compensation with a desired trajectory modification. The proposed algorithm decreases trajectory errors by a feed-forward desired torque combined with a neural network feedback torque component. And, to robustly control the tracking error, we modified the desired trajectory by variable structure concept smoothed by a fuzzy logic. For the numerical simulation, a 2-link robot manipulator model was assumed. To simulate the disturbance due to the modelling uncertainty. As a result of this simulation, the proposed method shows better trajectory tracking performance compared with the CTM and decreases the chattering in control inputs.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.3
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• pp.62-68
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• 2002

To satisfy the requirement of the one axis linear positioning system, which is following control of the desired trajectory without following error and is the high positioning accuracy, feed-forward loop having cogging force model is proposed. In the one axis linear positioning system with linear PM motor, cogging force acting as disturbance is modeled analytically. Analytic model of cogging force is verified by result measured from positioning system constructed with linear PM motor. Measured result is very similar with proposed analytic model. Cogging force model is used as feet forward loop in control scheme of linear positioning system. Cogging force feed-forward'loop is obtained from analytic model of cogging farce. Trajectory following error is reduced from 300nm to 100nm by applying the proposed cogging farce feed-forward loop. By using analytic model of cogging force, the control scheme is simplified. Also this analytic model is applicable to calculation of characteristic value of positioning system in design process.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.186-194
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• 2003

This paper proposes a combined controller frame of the adaptive robust control(ARC) and the sliding mode control(SMC) for the trajectory tracking control of the excavator to preserve the advantages of the both methods while overcoming their drawbacks, namely, asymptotic stability of adaptive system fir parametric uncertainties and guaranteed transient performance of sliding mode control for both parametric uncertainties and external disturbance. The suggested control technique is applied for the tracking of a straight-line motion of end-effector of manipulators, and through computer simulations, its trajectory tracking performances and the robustness to payload variation and uncertainties are illustrated.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.6
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• pp.510-518
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• 2004

The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.

• Journal of Power System Engineering
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• v.7 no.3
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• pp.40-47
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• 2003

In this study, position and force simultaneous trajectory tracking control apparatus with pneumatic cylinder driving system is proposed. The pneumatic cylinder driving system that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic actuators. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control apparatus show that the interacting effects of two cylinders are eliminated remarkably and the proposed control apparatus tracks the given position and force trajectory accurately.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.62.1-62
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• 2002

$\textbullet$ INTRODUCTION $\textbullet$ MATHEMATICAL MODEL OF EXCAVATOR $\textbullet$ H_INF CONTROLLER BASED ON DISTURBANCE OBSERVER $\textbullet$ SIMULATION RESULTS $\textbullet$ CONCLUSION