Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
권호 표지
DOI QR코드

DOI QR Code

Robust Near Time-optimal Controller Design for a Driving System Using Lyapunov Stability

Lyapunov 안정성을 이용한 구동장치의 강인 최단시간 제어기 설계

  • Received : 2012.04.03
  • Accepted : 2012.06.21
  • Published : 2012.07.20
Download PDF
⟨ Previous Next ⟩

Abstract

This paper proposes a high performance position controller for a driving system using a time optimal controller which has been widely used to control driving systems to achieve desired reference position or velocity in a minimum response time. The main purpose of this research lies in an improvement of transient response performance rather than that of steady-state response in comparison with other control strategies. In order to refine the scheme of time optimal control, Lyapunov stability proofs are incorporated in a controller of standard second order system model. This scheme is applied to the control of a driving system. In view of the simulation and experiment results, the standard second order system model exhibits better minimum-time control performance and robustness than double integral system model does.

Keywords

References

  1. Kirk, D. E., 1970, Optimal Control Theory, Prentice-Hall, pp. 240-259.
  2. Hu, Q. L., Du, C. L., Xie, L. H. and Wang, Y. Y., 2009, Discrete-time Sliding Mode Control with Time-varying Surface for Hard Disk Drives, IEEE Transactions on Control Systems Technology, Vol. 17, No. 1, pp. 175-183. https://doi.org/10.1109/TCST.2008.922505
  3. Young, K. D., Utkin, V. I., Ozguner, U., 1999, A Control Engineer's Guide to Sliding Mode Control, IEEE Transactions on Control Systems Technology, Vol. 7, No. 3, pp. 328-342. https://doi.org/10.1109/87.761053
  4. Iliev, B. K. and Kalaykov, I., 2004, Minimumtime Sliding Mode Control for Second-order Systems, Proceeding of the 2004 American Control Conference, pp. 626-631.
  5. Lim, C. W., Moon, S. J., Park, Y. J. and Park, Y. S., 2006, Experimental Study on Stability of Robust Saturation Controller, Transactions of the Korean Society for Noise and Vibration Engineering, Vol. 16, No. 2, pp. 207-213. https://doi.org/10.5050/KSNVN.2006.16.2.207
  6. Newman, W. S., 1990, Robust Near Time-Optimal Control, IEEE Transactions on Automatic Control, Vol. 35, No. 7, pp. 841-844. https://doi.org/10.1109/9.57026
  7. Newman, W. S. and Souccar, K., 1991, Robust, Near Time-optimal Control of Nonlinear Second- Order Systems, Journal of Dynamic Systems, Mea- surement, and Control, Vol. 113, pp. 363-370. https://doi.org/10.1115/1.2896419
  8. Slotine, J.-J. E. and Li, W., 1991, Applied Non- linear Control, Prentice Hall.
  9. LabVIEW System Identification Toolkit User Manual, National Instruments.
  10. Lee, J. H., Lee, S. W., Choi, J. H., Oh, D. J., Kim, I. H. and Park, K. H., 2008, System Identification and Robust Time-optimal Control of the Rotational Driving System, Conference of the Korean Institute of Electrical Engineers.

Cited by

  1. Decentralized Robust Adaptive Neural Network Control for Electrically Driven Robot Manipulators with Bounded Input Voltages vol.25, pp.11, 2015, https://doi.org/10.5050/KSNVE.2015.25.11.753