Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Variable Reference Model for Model Reference control Subject to Bounded Control Signals

제어신호가 제한된 모델기준제어를 위한 가변기준모델

  • Published : 2000.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

The reference model of an MRC (model reference control) provides the desired trajectory a plant should follow and thus the design of a reference model has a significant effect on control performance. In most control systems control input to a plant has some bounds and it is preferable to make use of as large control inputs as possible within the range of no saturation. In this paper a new approach of selecting the reference model is proposed for bounded control inputs. Design variables of the reference model are determined in such a way that maximizes the performance index within the range of no saturation. Moreover this variable reference model is regularly updated during control. This scheme is verified by application to the servo motor position control system in various simulations. The responses of the MRC with a variable reference model show better tracking performance than that with a fixed reference mode. Moreover by adjusting the update interval of the reference model the control performance can be further improved.

Keywords

References

  1. A. Ogata, Modern Control Engineering, Prentice Hall, 2nd Ed., 1990
  2. J. J. Slotine and W. Li, Applied Nonlinear Control, Prentice Hall, 1991
  3. Z. Qu, J. Dorsey. and D. Dawson, 'Model reference robust control of class of SISO systems,' IEEE Trans. on Automatic control, vol. 39, no. 11, pp. 2219-2234, 1994 https://doi.org/10.1109/9.333767
  4. H. Ambrose and Z. Qu, 'Model reference robust control for MIMO systems,' International Journal of Control, vol. 68, no. 3, pp. 599-623, 1997
  5. C. C. Cheah and D. Wang, 'A model reference learning scheme for a class of nonlinear systems,' International Journal of Control, vol. 66, no. 2, pp 271-287, 1997
  6. K. Youcef-Toumi and O. Ito, 'A time delay controller for systems with unknown dynamics,' ASME Journal of Dynamic Systems, Measurement, and Control, vol. 112, no. 1, pp. 133-142, 1990
  7. C. T. Chen, Linear System Theory and Design, Oxford, 1984
  8. H. J. Sussmann, E. D. Sontag, and Y. Yang, 'A general result on the stabilization of linear systems using bounded controls,' IEEE Trans. on Automatic Control, vol. 39, no. 12, pp. 2411-2425, 1994 https://doi.org/10.1109/9.362853
  9. Y. S. Lu and J. S. Chen, 'Design of a global sliding mode controller for a motor drive with bounded control,' International Journal of Control, vol. 62, no. 5, pp. 1001-1019, 1995 https://doi.org/10.1080/00207179508921579
  10. A. Bemporad, 'Reference governor for constrained nonlinear systems,' IEEE Trans. on Automatic Control, vol. 43, no. 3, pp. 415-419, 1998 https://doi.org/10.1109/9.661611
  11. A. Bemporad, A. Casavola and E. Mosca, 'Nonlinear control of constrained linear systems via prediction reference management,' IEEE Trans. on Automatic Control, vol. 42, no. 3, pp. 340-349, 1997 https://doi.org/10.1109/9.557577
  12. A. Bemporad and E. Mosca, 'Fulfilling hard constraints in uncertain linear systems by reference managing,' Automatica, vol. 34, no. 4, pp. 451-461, 1998 https://doi.org/10.1016/S0005-1098(97)00213-6
  13. J. B. Song and K. S. Byun, 'Design of time delay controller based on variable reference model,' Proc. of American Control Conference, vol. 6, pp. 3339-3343, 1998 https://doi.org/10.1109/ACC.1998.703193
  14. 송채복, 변경석, '제한된 제어입력을 갖는 시스템에 대한 시간지연제어기의 설계' 제어.자동화.시스템공학 논문지, 제5권, 제2호, pp. 166-173, 1999