• 제목/요약/키워드: Decoupled Control

검색결과 197건 처리시간 0.022초

On Decentralized Aadaptive Controller Design

  • Lyou, Joon
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.140-145
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    • 1992
  • This paper presents a decentralized model reference adaptive control scheme for an interconnected linear system composed of a number of single-input single-output subsystems in which outgoing interactions pass through the measurement channel and are subjected to bounded external disturbances. The scheme can treat the unknown strength of interactions as well as uncertainties in subsystem dynamics, and allows for the case when the relative degree of each decoupled subsystem does not exceed two.

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다변수 비선형시스템에서의 강인한 추적 (Robust tracking in multivariable nonlinear systems)

  • 백운보;배종일;이만형
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.451-456
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    • 1990
  • We treat the problem of the robust tracking of a class of nonlinear systems which can be asymptotically decoupled in approximate sense by state variable feedback. A nonlinear control law is derived such that the tracking error in the closed loop system is uniformly bounded and tends to a certain small neighborhood of the origin. Simulation results show that simultaneous lateral and longitudinal maneuvers in airplane can be accurately performed in spite of uncertainty in stability derivatives.

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퍼지논리를 이용한 선형모터 기반 이송시스템의 위치 제어 (Position Control of Linear Motor based Transfer Systems using Fuzzy Inference)

  • 서정현;이진우;조현철;이권순
    • 전기학회논문지
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    • 제56권4호
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    • pp.777-783
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    • 2007
  • In this paper, we present a novel control approach for linear motor-based transfer systems in which friction reduction and enhancement of control performance are considered. In general, in such systems friction effects from rails and wheels, and internal bearings complicate control scheme since in particularly its dynamics are arbitrarily changed due to mass variation, detent force of motor systems, and gaps among stators. Our control approach is achieved to reduce this undesired friction dynamics using fuzzy system. We construct hybrid control approach for this control system which Is composed of a nominal control and a vertical control against friction. Fuzzy parameter vector is optimally determined from iterative simulation experiments. We demonstrate its superiority via numerical simulations comparing with a traditional control method.

Fuzzy Neural Network Active Disturbance Rejection Control for Two-Wheeled Self-Balanced Robot

  • Wang, Chao;Jianliang, Xiao;Zhang, Cheng
    • Journal of Information Processing Systems
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    • 제18권4호
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    • pp.510-523
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    • 2022
  • Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.

Extended impedance control of redundant manipulators

  • Oh, Yonghwan;Chung, Wankyun;Youm, Youngil
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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    • pp.73-76
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    • 1996
  • An impedance control approach based on an extended task space formulation is addressed to control the kinematically redundant manipulators. Defining a weighted inner product in joint space, a minimal parametrization of the null space can be achieved and we can visualize the null space motion explicitly. Based on this formulation, we propose a control method called inertially decoupled impedance controller to control the motion of the end-effector as well as the internal motion expanding the conventional impedance control. Some numerical simulations are given to demonstrate the performance of the proposed control method.

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8/10 베어링리스 SRM의 고속 직접전류제어 (High Speed Direct Current Control for the 8/10 Bearingless SRM)

  • 관충우;안진우
    • 전기학회논문지
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    • 제61권5호
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    • pp.690-697
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    • 2012
  • Novel 8/10 bearingless switched reluctance motor, which can control rotor radial positions with magnetic force, is proposed. The motor has combined characteristics of switched reluctance motor and magnetic bearing. This paper proposes a air-gap control system method of suspending force control in a bearingless switched reluctance motor (BLSRM). The proposed radial force control scheme is independent to the torque winding current. A PI direct current control (DCC) controller and look-up table are used to maintain a constant rotor air-gap. From the analysis and the experimental results, it is shown that the proposed strategy is effective in realizing a naturally decoupled radial force control of BLSRM.

External Force Control for Two Dimensional Contour Following ; Part 1. A Linear Control Approach

  • Park, Young-Chil;Kim, Sungkwun
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.130-134
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    • 1992
  • The ability of a robot system to comply to an environment via the control of tool-environment interaction force is of vital for the successful task accomplishment in many robot application. This paper presents the implementation of external force control for two dimensional contour following task using a commercial robot system. Force accommodation is used since a constraint imposed in our work is not to modify the commercial robot system. A linear, decoupled model of two dimensional contour following system in the discrete time domain is derived first. Then the experimental verification of linear control is obtained using a PUMA 560 manipulator with standard Unimation controller, Astek FS6-120A six axis wrist force sensor attached externally to the arm and LSI-11173 microcomputer. Experimentally obtained data shows that the RMS contact force error is 0.8246 N when following the straight edge and 2.3768 N when following 40 mm radius curved contour.

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신경회로망을 사용한 비선형 확률시스템 제어에 관한 연구 (A Study on a Stochastic Nonlinear System Control Using Neural Networks)

  • 석진욱;최경삼;조성원;이종수
    • 제어로봇시스템학회논문지
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    • 제6권3호
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    • pp.263-272
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    • 2000
  • In this paper we give some geometric condition for a stochastic nonlinear system and we propose a control method for a stochastic nonlinear system using neural networks. Since a competitive learning neural networks has been developed based on the stochastcic approximation method it is regarded as a stochastic recursive filter algorithm. In addition we provide a filtering and control condition for a stochastic nonlinear system called the perfect filtering condition in a viewpoint of stochastic geometry. The stochastic nonlinear system satisfying the perfect filtering condition is decoupled with a deterministic part and purely semi martingale part. Hence the above system can be controlled by conventional control laws and various intelligent control laws. Computer simulation shows that the stochastic nonlinear system satisfying the perfect filtering condition is controllable and the proposed neural controller is more efficient than the conventional LQG controller and the canonical LQ-Neural controller.

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PUMA형 로보트 머니플레이터의 강인한 위치/힘 혼합제어 (Robust Hybrid Position/Force Control of a PUMA-Like Robot Manipulator)

  • 박재욱;이건복
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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    • pp.575-578
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    • 1995
  • In general, the control of robot manipulator is classified into position control and force control. Position controllers give adequate performance when a manipulator is following a trajectory through space and end-effector has no contact with environment. However for most tasks performed by robot manipulator in industry, contact is made between the end-effector and manipulator's environment, so position control may not suffice. The objective of this study is to control both position of a manipulator and the contact forces generated at the hand by using a conceptually simple control law. Position and force control problem is decoupled into subtasts via taskspace formulation and inverse dynamics. Then, the position controllers are designed for the task space variable which represent tangent motion and the forte controllers are designed for the lash space variables which represent normal force.

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게인 스케쥴링과 캐스케이드 제어에 의한 가상현실용 열환경의 실시간 구현 (Implementation of Real-Time Thermal Environment for Virtual Reality Using Gain Scheduling and Cascade Control)

  • 신영기;장영수;김영일
    • 제어로봇시스템학회논문지
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    • 제7권7호
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    • pp.567-573
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    • 2001
  • A real-time HVAC system is proposed which implements real-time control of thermal environment for virtual reality. It consists of a pair of hot and cold loops that serve as thermal reservoirs, and a mixing box to mix hot and cold air streams flowing if from loops. Their flow rates are controlled in real-time to meet a set temperature and flow rate. A cascade control algorithm along with gain scheduling is applied to the system and test results shows that the closed-loop response approached set values within 3 to 4 seconds.

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