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

  • 제22권7호
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  • Pages.650-658
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  • 2012
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  • 1598-2785(pISSN)
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  • 2287-5476(eISSN)
한국소음진동공학회 (The Korean Society for Noise and Vibration Engineering)
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Lyapunov 안정성을 이용한 구동장치의 강인 최단시간 제어기 설계

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

  • 투고 : 2012.04.03
  • 심사 : 2012.06.21
  • 발행 : 2012.07.20
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초록

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.

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참고문헌

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피인용 문헌

  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