• Proceedings of the KIEE Conference
• /
• 2015.07a
• /
• pp.1337-1338
• /
• 2015

In this paper, a new control technique using WIPDC(Weighted Integral Parallel Distributed Compensation) and ISMC(Integral Sliding Mode Control) is proposed for high performance and robust trajectory tracking control of a wheeled mobile robot. The WIPDC reduces the steady-state error by adding a weighted integral controller to the PDC. So, the trajectory tracking control using the WIPDC can obtain more accurate control performance than the PDC. And the ISMC based control input gives the mobile robot to preserve the system dynamics controlled by the WIPDC control input in spite of external disturbances. Therefore, the proposed control method shows a robust and precise trajectory tracking performance.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.22 no.3
• /
• pp.275-283
• /
• 2012

This paper presents a design method of a robust tracking controller satisfying multiple constraints using genetic algorithm. A robust $H_{\infty}$ constraint with loop shaping is used to address disturbance attenuation with error limits and a loop gain constraint is considered so as not to enlarge the tracking loop gain and bandwidth unnecessarily. The robust $H_{\infty}$ constraint is expressed by a matrix inequality and the loop gain constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a robust tracking controller can be obtained by integrating genetic algorithm with LMI approach. The proposed tracking controller design method is applied to the track-following system of an optical DVD recording drive and is evaluated through the experimental results.

• Proceedings of the KIEE Conference
• /
• 1994.11a
• /
• pp.305-307
• /
• 1994

In this paper, the desist and the implementation of a robust adaptive controller for trajectory tracking control of the robot manipulator is presented. The proposed control scheme ensures that without any prior knowledge of the robot manipulator parameters, tracking errors are converged to some boundary in the presence of a state-dependent input disturbances as well as the ideal case. The 3 DOF robot manipulator including actuator dynamics is used for the implementation of the proposed control scheme. The experimental results show that the proposed control scheme is valid for trajectory tracking control of the robot manipulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.449-452
• /
• 1996

In this paper, a robust.adaptive control scheme is presented for precise trajectory tracking of nonholonomic mobile robots. In the controller, a set of desired trajectory is defined and used in constructing the control input which constitutes the main part of the proposed controller. The stable operating characteristics such as precise trajectory tracking, parameter estimation, disturbance suppression, tec., are shown through experiments as well as computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.759-762
• /
• 1996

In previous work Kwon and Yoo [5] have shown that the FIR tracking algorithm using the input estimation technique. However, it has not solved the problem of systems with parameter uncertainties. Therefore, in this paper we propose a new robust $H_{\infty}$ FIR tracking filter to solve the target tracking problems under systems with parameter uncertainties. Also, we use here the input estimation approach to account for the possibility of maneuver. Simulation results show that the robust $H_{\infty}$ FIR tracking filter proposed here still has good tracking performance for a maneuvering target tracking problem even under all system parameter uncertainties.

• Journal of Institute of Control, Robotics and Systems
• /
• v.4 no.5
• /
• pp.592-599
• /
• 1998

In this paper, we design a tracking controller which satisfies transient response specifications and maintains tracking error within a tolerable limit for the uncertain track-following system of an optical disk drive. To this end, a robust $H_{\infty}$ control problem with regional stability constraints and sinusoidal disturbance rejection is considered. The internal model principle is used for rejecting the sinusoidal disturbance caused by eccentric rotation of the disk. We show that a condition satisfying the regional stability constraints can be expressed in terms of a linear matrix inequality (LMI) using the Lyapunov theory and S-procedure. Finally, a tracking controller is obtained by solving an LMI optimization problem involving two linear matrix inequalities. The proposed controller design method is evaluated through an experiment.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.451-456
• /
• 1990

We treat the problem of the robust tracking of a class of nonlinear systems which can be asymptotically decoupled in approximate sense by state variable feedback. A nonlinear control law is derived such that the tracking error in the closed loop system is uniformly bounded and tends to a certain small neighborhood of the origin. Simulation results show that simultaneous lateral and longitudinal maneuvers in airplane can be accurately performed in spite of uncertainty in stability derivatives.

• Nuclear Engineering and Technology
• /
• v.25 no.1
• /
• pp.110-124
• /
• 1993

A Nonlinear model-based Hybrid Controller (NHC) is developed which consists of the adaptive proportional-integral-feedforward (PIF) gains and variable structure controller. The controller has the robustness against modeling uncertainty and is applied to the trajectory tracking control of single-input, single-output nonlinear systems. The essence of the scheme is to divide the control into four different terms. Namely, the adaptive P-I-F gains and variable structure controller are used to accomplish the specific control actions by each terms. The robustness of the controller is guaranteed by the feedback of estimated uncertainty and the performance specification given by the adaptation of PIF gains using the second method of Lyapunov. The variable structure controller is incorporated to regulate the initial peak of the tracking error during the parameter adaptation is not settled yet. The newly developed NHC method is applied to the power tracking control of a nuclear reactor and the simulation results show great improvement in tracking performance compared with the conventional model-based control methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.771-774
• /
• 1996

This paper presents a continuous time varying sliding surface that allows faster tracking and really guarantees robust contro land smooths control inputs. And this method is evaluated by applying to robot manipulator.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.8
• /
• pp.824-830
• /
• 2013

We propose a tracking control system for butterfly valves. A sliding mode controller with a fuzzy-neural network algorithm was applied to the design of the tracking control system. The control scheme used the real-time update law for the unmodeled system dynamics using a fuzzy-neural network algorithm. The performance of the proposed control system was assessed through a range of experiments.