• Title/Summary/Keyword: switching control

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Computational solution for the problem of a stochastic optimal switching control

  • Choi, Won-Sik
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10b
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    • pp.155-159
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    • 1993
  • In this paper, we consider the problem of a stochastic optimal switching control, which can be applied to the control of a system with uncertain demand such as a control problem of a power plant. The dynamic programming method is applied for the formulation of the optimal control problem. We solve the system of Quasi-Variational Inequalities(QVI) using an algoritlim which involves the finite difference approximation and contraction mapping method. A mathematical example of the optimal switching control is constructed. The actual performance of the algorithm is also tested through the solution of the constructed example.

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Switching Control of Electromagnetic Levitation System based on Jacobian Linearization and Input-Output Feedback Linearization (자코비안 선형화 및 입-출력 궤환 선형화에 기반한 자기 부상 시스템의 스위칭 제어)

  • Jeong, Min-Gil;Choi, Ho-Lim
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.64 no.4
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    • pp.578-585
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    • 2015
  • Electromagnetic levitation system(EMLS) is one of the well known nonlinear systems. Often, it is not easy to control an EMLS due to its high nonlinearity. In this paper, we first apply two linearization method(jacobian and input-output feedback linearization) to design two feedback controllers for an EMLS. Then, by observing the advantages of each controller, we design a switching control algorithm which engage two controllers depending on the position of the steel ball in order to achieve the improved performance over each controller. The validity of our switching control approach is verified via both simulation and actual experimental results.

Switching Control of Ball and Beam System using Partial State Feedback: Jacobian and Two-Step Linearization Methods (자코비안 및 2단 선형화 기법과 부분 상태궤환을 이용한 볼-빔 시스템의 스위칭 제어)

  • Lee, Kyung-Tae;Choi, Ho-Lim
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.66 no.5
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    • pp.819-832
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    • 2017
  • We propose a new switching control scheme for a ball and beam system by utilizing two linearization methods. First, the Jacobian linearization is applied and state observer is developed afterward. Then, motivated [6], the approximate input-output linearization is carried out, and after that, the Jacobian linearization is applied along with the design of state observer. Since the second approach requires two linearizations, it is called a two-step linearization method. The state observer is needed for the estimation of the velocities of ball and motor movement. Since the Jacobian linearization based controller tends to provide faster response at the initial time, and after that, the two-step linearization based controller tends to provide better response in terms of output overshoot and convergence to the origin, it is natural to give a switching control scheme to provide the best overall control response. The validity of our control scheme is shown in both simulation and experimental results.

Intelligent Phase Plane Switching Control of Pneumatic Artificial Muscle Manipulators with Magneto-Rheological Brake

  • Thanh, Tu Diep Cong;Ahn, Kyoung-Kwan
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.1983-1989
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    • 2005
  • Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

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Switching Control for End Order Nonlinear Systems by Avoiding Singular Manifolds (특이공간 회피에 의한 2차 비선형 시스템의 스위칭 제어기 설계)

  • Yeom, D.H.;Im, K.H.;Choi, J.Y.
    • Proceedings of the KIEE Conference
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    • 2003.11b
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    • pp.315-318
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    • 2003
  • This paper proposes a switching control method applicable to any affine, 2nd order nonlinear system with single input. The key contribution is to develop a control design method which uses a piecewise continuous Lyapunov function non-increasing at every discontinuous point. The proposed design method requires no restrictions except full state availability. To obtain a non-increasing, piecewise continuous Lyapunov function, we change the sign of off-diagonal term s of the positive definite matrix composing the former Lyapunov function according to the sign of the Inter-connection term. And we use the solution of inequalities which guarantee each Lyapunov function is non-increasing at any discontinuous point.

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Switching Control Strategy of Bidirectional Converter for Energy Storage System in Photovoltaic Hybrid Modules (태양광 Hybrid Module용 에너지 저장 장치에서의 양방향 컨버터 스위칭 제어 기법)

  • Jang, Jin-Woo;Park, Yun-Ho;Kim, Young-Ho;Choi, Bong-Yeon;Won, Chung-Yuen
    • Proceedings of the KIPE Conference
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    • 2013.07a
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    • pp.467-468
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    • 2013
  • In this paper, a switching control strategy of bidirectional converter for energy storage system in photovoltaic hybrid modules is proposed. The bidirectional converter for energy storage system (ESS) with battery is connected with DC link in parallel which is located between current source flyback converters(CSFC) and unfolding bridge. Because CSFC generates rectified sinusoidal current, the bidirectional converter requires suitable control strategy. Therefore, a theoretical analysis of the proposed switching control strategy is presented. And, validity is confirmed through simulation results.

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Control of a Ball and Beam System using Switching Control Method (스위칭 제어 기법을 이용한 볼-빔 시스템의 제어)

  • Lee, Kyung-Tae;Jeong, Min-Gil;Choi, Ho-Lim
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.66 no.1
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    • pp.72-81
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    • 2017
  • We propose a switching control scheme for the control of a ball and beam system. It was reported in [4] that a ball and beam system is a nonlinear system which has an ill-defined relative degree. So, the traditional control approaches have been mostly either Jacobian-based control or approximate input-output linearized control in nature. In this paper, motivated by [7], we combine these two traditional control approaches and operate each controller via a pre-designed switching logic so that the improved control result can be obtained without any excessive use of control input. Switching algorithm is developed based on both analysis and actual experimental observation. We verify the effectiveness of our proposed controller via actual experimental results.

Intelligent Switching Control of Pneumatic Cylinders by Learning Vector Quantization Neural Network

  • Ahn KyoungKwan;Lee ByungRyong
    • Journal of Mechanical Science and Technology
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    • v.19 no.2
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    • pp.529-539
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    • 2005
  • The development of a fast, accurate, and inexpensive position-controlled pneumatic actuator that may be applied to various practical positioning applications with various external loads is described in this paper. A novel modified pulse-width modulation (MPWM) valve pulsing algorithm allows on/off solenoid valves to be used in place of costly servo valves. A comparison between the system response of the standard PWM technique and that of the modified PWM technique shows that the performance of the proposed technique was significantly increased. A state-feedback controller with position, velocity and acceleration feedback was successfully implemented as a continuous controller. A switching algorithm for control parameters using a learning vector quantization neural network (LVQNN) has newly proposed, which classifies the external load of the pneumatic actuator. The effectiveness of this proposed control algorithm with smooth switching control has been demonstrated through experiments with various external loads.

Switching Control for Second Order Nonlinear Systems Using Singular Hyperplanes

  • Yeom Dong-Hae;Choi Jin-Young
    • International Journal of Control, Automation, and Systems
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    • v.4 no.1
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    • pp.124-135
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    • 2006
  • In this paper, we propose a switching control method for a class of 2nd order nonlinear systems with single input. The main idea is to switch the control law before the trajectory of the solution arrives at singular hyperplanes which are defined by the denominator of the control law. The proposed method can handle a class of nonlinear systems which is difficult to be stabilized by the existing methods such as feedback linearization, backstepping, control Lyapunov function, and sliding mode control.