A Position Control of an Electrical Fin Actuator for Guided Missile using TDC and ETDO

TDC와 ETDO를 이용한 유도무기용 전기식 날개구동장치의 위치제어

  • Published : 2006.08.01

Abstract

This paper illustrates the practical design procedure on a position control of an electrical fin actuator for the guided missile using Time Delay Control(TDC) and Enhanced Time Delay Observer(ETDO). Since TDC is robust to the model uncertainties such as the parameter variation and the external disturbance, it has been frequently used in nonlinear control systems. For a position control of an electrical fin actuator in the missile system, TDC requires the velocity sensor as well as the position sensor. To resolve the problems of the cost, the space and the malfunction due to the velocity sensor, ETDO is used as the velocity observer. ETDO is enhanced version of TDO that has the problems of the reconstruction errors and the restriction on selecting its gains. To maximize the control performance, the parameters of ETDO are optimized by using the genetic algorithm. The effectiveness of this approach is proved through a series of simulation studies and experiments, and the designed controller is compared with the typical TDC and TDC using the reduced oder observer.

Keywords

References

  1. Slotine, J. J. E., and Sastry, S. S., 'Tracking Control of Nonlinear Systems Using Sliding Surfaces with Applications to Robot Manipulators', International Journal of Control, Vol. 38-2, pp.465-492, 1983
  2. Elmali, H. and Olgac, N., 'Sliding Mode Control with Perturbation Estimation (SMCPE) : A New Approach', International Journal of Control, Vol. 56, No.4, pp.923-941, 1992 https://doi.org/10.1080/00207179208934350
  3. Doyle, J. C, 'Synthesis of Robust Controllers and Filters', Proceeding of IEEE Conference on Decision and Control, pp.109-114, 1983 https://doi.org/10.1109/CDC.1983.269806
  4. J. Doyle, K. Glover, P. Khargonekar and B. Francis, 'State Space Solutions to Standard $H_2$ and $H_{infty}$ Control Problems', IEEE Trans. A.C., vol. 34, pp.831-846, 1989 https://doi.org/10.1109/9.29425
  5. M. Safonov, D. Limebeer and R. Chiang, 'Simplifying $H_{infty}$ Theory via Loop-shifting, Matrix Pencil and Descriptor Concepts', International Journal of Control, vol. 50, pp.2467-2488, 1989 https://doi.org/10.1080/00207178908953510
  6. Yousef-Toumi, K., and Ito, O., 'A Time Delay Controller for Systems with Unknown Dynamics', ASME Journal of Dynamic Systems Measurement and Control, Vol. 112, pp.133-142, 1990 https://doi.org/10.1115/1.2894130
  7. Yousef-Toumi, K., and Redy, S., 'Analysis of Linear Time Invariant Systems With Time Delay', ASME Journal of Dynamic Systems Measurement and Control, Vol. 114, pp.544-555, 1990 https://doi.org/10.1115/1.2897722
  8. P. H. Chang, J. W. Lee and S. H. Park, 'Time Delay Observer: A Robust Observer for Nonlinear Plants', ASME Journal of Dynamic Systems Measurement and Control, Vol. 119, pp.521-527, 1997 https://doi.org/10.1115/1.2801288
  9. S. H. Park and P. H. Chang, 'An Enhanced Time Delay Observer for Nonlinear Systems', ICASE Transactions of Control, Automation and Systems Engineering, Vol. 2, pp.149-156, 2000
  10. Park Y. C., Chang W. W., and Roh H. S., 'Anti-Jump Resonance Characteristics of Anti-Windup Compensator for Systems With a Saturating Actuator', KSME, Vol. 17, No.6, pp.1342-1350, 1993
  11. David E. Goldberg, 'Genetic Algorithm in Search, Optimization and Machine Learning', Addison-Wesley Pub., 1993
  12. Randy L. Haupt, Sue E. Haupt, 'Practical Genetic Algorithms', John Wiley & Sons Inc., 1998
  13. Z. Michalewicz, 'Genetic Algorithms+Data Structures=Evolution Programs', Springer, 1996