• 제목/요약/키워드: uncertain dynamic system

검색결과 154건 처리시간 0.029초

불확실성을 갖는 퍼지 시스템의 출력궤환 견실 $H^infty$ 제어 (Output Feedback Robust $H^infty$ Control for Uncertain Fuzzy Dynamic Systems)

  • Lee, Kap-Lai;Kim, Jong-Hae;Park, Hong-Bae
    • 전자공학회논문지SC
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    • 제37권6호
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    • pp.15-24
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    • 2000
  • 본 논문에서는 불확실성을 갖는 비선형 시스템의 출력 궤환 퍼지 H∞ 제어 문제를 고려한다. 비선형 시스템은 Takagi-Sugeno(T-S) 퍼지모델로 나타내고 제어기 설계는 퍼지모델을 이용하여 설계한다. Lyapunov 함수를 이용하여 퍼지모델에 대한 폐-루프 시스템의 안정성뿐만 아니라 외란감쇠에 대한 L₂ 이득 성능을 보장하는 충분조건을 유도한다. 유도된 조건식 으로부터 퍼지 H∞ 제어기가 존재할 충분조건을 선형 행렬부등식으로 나타내고, 이 선형 행렬부등식의 해로부터 제어기를 설계하는 알고리듬을 제시한다. 설계된 제어기는 비선형이며 퍼지 동작에 의해 자동적으로 조정된다.

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불확실한 동적 시스템의 상태공간 표현 강인 모델추종 제어기 (Robust Model-Following Controller for Uncertain Dynamical Systems by State-Space Representation)

  • 박병석;윤지섭;강이석
    • 대한전기학회논문지:시스템및제어부문D
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    • 제50권12호
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    • pp.575-583
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    • 2001
  • It is hard to obtain good robust performance and robust stability for uncertain and time-varying system. The robust 2-DOF controller is frequently used to obtain the desired response and the good robustness. Two controllers can be independently designed. Generally, one controller reduces sensitivity to parameter variations, nonlinear effects, and other disturbances. On the other hand, the other controller reduces the error between the desired command and output. In this paper, the various robust perfect MFCs(model-following controllers) combined with TDC(Time Delay Control) are designed, and the imperfect stable MFC combined with TDC and SMC(Sliding Mode Control) is proposed. These controllers are based on the method of designing robust 2-DOF controllers for dynamic system with uncertainty. The performance of the proposed imperfect sable MFC has been evaluated through computer simulations. The simulation results indicate that the proposed controller shows the excellent performance characteristics for an overhead crane with uncertain and time-varying parameters.

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정합조건을 만족시키지 않는 불확실한 시스템을 위한 선형 슬라이딩 평면의 LMI 매개변수화 (LMI Parameterization of Lineny Sliding Surfaces for Mismatched Uncertain Systems)

  • 이재관;최한호
    • 제어로봇시스템학회논문지
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    • 제11권11호
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    • pp.907-912
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    • 2005
  • In this paper, we consider the problem of designing sliding surfaces fur a class of dynamic systems with mismatched uncertainties in the state space model. In terms of LMIs, we give necessary and sufficient conditions fir the existence of a linear sliding surface such that the reduced order sliding mode dynamics is asymptotically stable and completely independent of uncertainties. We parameterize all such linear sliding surfaces by using the solution to the given LMI conditions. And, we consider the problem of designing linear sliding surfaces guaranteeing pole placement constraints or $H_2/H_infty$ performances. Finally, we give a design example in order to show the effectiveness of our method.

I-PDA controller design for Robotic Manipulator based on Coefficient Diagram Method with FFC

  • Lee, Young-Su;Kim, Dae-Hyun;Kim, Seung-Chul;Lim, Young-Do
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.594-597
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    • 2005
  • In this paper, I-PDA controller based on Coefficient Diagram Method incorporating feedforward controller is applied by robotic manipulators. Robotic manipulator models contain uncertain elements, which are not known exactly. Therefore, the dynamics of robotic manipulators are generally classified as uncertain dynamic system. The controller considered for the robotic manipulators need to move payloads of different masses from one point to another with good balance of the stability and response, consequently we propose I-PDA controller based on Coefficient Diagram Method incorporating FFC. The effectiveness of the controller for different system type of robotic manipulators is demonstrated by the simulation results.

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Output feedback receding horizon control for uncertain LTV systems

  • Seuncheol Jeong;Park, Poo-Gyeon
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.27.3-27
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    • 2001
  • In this paper, a robust receding horizon controller for uncertain linear time-varying systems is presented in the dynamic output-feedback form. The existing output-feedback receding horizon controller in the literature is composed of a state observer and a static controller associated with the observer states (similar to LQC control), where the fundamental assumption is that the state observer will supply the exact states as time goes up. The performance of those controllers may be much degraded and even the closed-loop stability may not be guaranteed when the system suffers from disturbances and uncertainties or is time-varying. The proposed controller, which is not necessary to have the state-observer, overcomes such difficulties. Using matrix inequality conditions on the terminal weighting matrix, the closed-loop system stability is guaranteed. Numerical examples are ...

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출력관측 오차의 필터링을 이용한 비선형 계통의 강인한 신경망 관측기 설계 (Robust Adaptive Neural-Net Observer for Nonlinear Systems Using Filtering of Output Estimation Error)

  • 박장현;윤필상;박귀태
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 D
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    • pp.2320-2322
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    • 2001
  • This paper describes the design of a robust adaptive neural-net(NN) observer for uncertain nonlinear dynamical system. The Lyapunov synthesis approach is used to guarantee a uniform ultimate boundedness property of the state estimation error, as well as of all other signals in the closed-loop system. Especially, for reducing the dynamic oder of the observer, we propose a new method in which no strictly positive real(SPR) condition is needed with on-line estimation of weights of the NNs. No a priori knowledge of an upper bounds on the uncertain terms is required. The theoretical results are illustrated through a simulation example.

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댐 군 월별 운영 정책의 도출을 위한 추계적 동적 계획 모형 (A Stochastic Dynamic Programming Model to Derive Monthly Operating Policy of a Multi-Reservoir System)

  • 임동규;김재희;김승권
    • 경영과학
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    • 제29권1호
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    • pp.1-14
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    • 2012
  • The goal of the multi-reservoir operation planning is to provide an optimal release plan that maximize the reservoir storage and hydropower generation while minimizing the spillages. However, the reservoir operation is difficult due to the uncertainty associated with inflows. In order to consider the uncertain inflows in the reservoir operating problem, we present a Stochastic Dynamic Programming (SDP) model based on the markov decision process (MDP). The objective of the model is to maximize the expected value of the system performance that is the weighted sum of all expected objective values. With the SDP model, multi-reservoir operating rule can be derived, and it also generates the steady state probabilities of reservoir storage and inflow as output. We applied the model to the Geum-river basin in Korea and could generate a multi-reservoir monthly operating plan that can consider the uncertainty of inflow.

시변시스템을 위한 RBF 신경망 기반의 QFT 파라미터계획 제어기법과 alt일 제어시스템에의 적용 (RBF Network Based QFT Parameter-Scheduling Control Design for Linear Time-Varying Systems and Its Application to a Missile Control System)

  • 임기홍;최재원
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.199-199
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    • 2000
  • Most of linear time-varying(LTV) systems except special cases have no general solution for the dynamic equations. Thus, it is difficult to design time-varying controllers in analytic ways, and other control design approaches such as robust control have been applied to control design for uncertain LTI systems which are the approximation of LTV systems have been generally used instead. A robust control method such as quantitative feedback theory(QFT) has an advantage of guaranteeing the stability and the performance specification against plant parameter uncertainties in frozen time sense. However, if these methods are applied to the approximated linear time-invariant(LTI) plants which have large uncertainty, the designed control will be constructed in complicated forms and usually not suitable for fast dynamic performance. In this paper, as a method to enhance the fast dynamic performance, the approximated uncertainty of time-varying parameters are reduced by the proposed QFT parameter-scheduling control design based on radial basis function (RBF) networks for LTV systems with bounded time-varying parameters.

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불확실한 $L\ddot{u}$ 카오스 시스템을 위한 적응 퍼지 Bilinear 동기화 제어 설계 (Adaptive Fuzzy Bilinear Synchronization Control Design for Uncertain $L\ddot{u}$ Chaos System)

  • 백재호;이희진;박민용
    • 전자공학회논문지CI
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    • 제47권3호
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    • pp.59-66
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    • 2010
  • 본 논문은 불확실한 $L\ddot{u}$ 카오스 시스템의 동기화를 위한 적응 퍼지 bilinear 동기화 제어 설계 방법을 제안한다. $L\ddot{u}$ 카오스 시스템은 알려지지 않은 파라미터를 가지고 있다고 가정한다. 먼저, 불확실한 $L\ddot{u}$ 카오스 시스템을 TS 퍼지 bilinear 모델링을 통해 재구성한다. 불확실한 파라미터를 가진 TS 퍼지 bilinear $L\ddot{u}$ 카오스 시스템을 기반으로한 적응 퍼지 bilinear 동기화 제어 기법을 설계한다. Lyapunov 이론을 통해서 설계된 적응 퍼지 bilinear 동기화 제어 기법을 통한 TS 퍼지 bilinear $L\ddot{u}$ 카오스 시스템과 제안된 슬레이브 시스템 간의 오차 다이나믹 시스템의 안정성을 보장하고 이를 통해서 불확실한 파라미터를 추정 할 수 있는 적응 규칙을 유도한다. 제안된 동기화 제어 기법을 시뮬레이션을 통해서 그 명확성을 보이고자 한다.

네트워크 기반 시간지연 시스템을 위한 리세트 제어 및 확률론적 예측기법을 이용한 온라인 학습제어시스템 (Online Learning Control for Network-induced Time Delay Systems using Reset Control and Probabilistic Prediction Method)

  • 조현철;심광열;이권순
    • 제어로봇시스템학회논문지
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    • 제15권9호
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    • pp.929-938
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    • 2009
  • This paper presents a novel control methodology for communication network based nonlinear systems with time delay nature. We construct a nominal nonlinear control law for representing a linear model and a reset control system which is aimed for corrective control strategy to compensate system error due to uncertain time delay through wireless communication network. Next, online neural control approach is proposed for overcoming nonstationary statistical nature in the network topology. Additionally, DBN (Dynamic Bayesian Network) technique is accomplished for modeling of its dynamics in terms of casuality, which is then utilized for estimating prediction of system output. We evaluate superiority and reliability of the proposed control approach through numerical simulation example in which a nonlinear inverted pendulum model is employed as a networked control system.