• International Journal of Aeronautical and Space Sciences
• /
• 제11권2호
• /
• pp.131-135
• /
• 2010

We report on the design of a three-axis missile autopilot using multi-objective control synthesis via linear matrix inequality techniques. This autopilot design guarantees $H_2/H_{\infty}$ performance criteria for a set of finite linear models. These models are linearized at different aerodynamic roll angle conditions over the flight envelope to capture uncertainties that occur in the high-angle-of-attack regime. Simulation results are presented for different aerodynamic roll angle variations and show that the performance of the controller is very satisfactory.

• International Journal of Control, Automation, and Systems
• /
• 제5권3호
• /
• pp.349-354
• /
• 2007

This paper considers the problem of designing static output feedback controllers for nonlinear systems represented by Takagi-Sugeno (T-S) fuzzy models. Based on linear matrix inequality technique, a new method is developed for designing fuzzy stabilizing controllers via static output feedback. Furthermore, the result is also extended to $H_{\infty}$ control. Examples are given to illustrate the effectiveness of the proposed methods.

• 한국지능시스템학회논문지
• /
• 제12권1호
• /
• pp.80-84
• /
• 2002

본 논문은 2자유도 실험용 헬리콥터 시스템의 제어를 위한 분산 제어기 설계 기법을 제안한다. 분산제어기법은 특히 대규모 제어 시스템에 적합하다고 알려져 있다. 본 논문에서는 Lyapunov 안정도 설계 방법을 이용하여 상호 연결된 TS 퍼지 시스템의 안정도 조건을 유도하고 선형 행렬 부등식을 이용하여 제어기 설계 조건을 공식화한다. 제안된 방법의 유용성을 검증하기 위해, 컴퓨터 시뮬레이션뿐 만 아니라 실험을 통해 그 결과를 도출한다.

• 한국지능시스템학회논문지
• /
• 제14권5호
• /
• pp.557-562
• /
• 2004

이 연구는 T-S 퍼지시스템으로 모델 되는 비선형 시스템의 견실한 혼합 ${H_2}/{H_{\infty}}$ 필터 설계문제를 취급한다. 플랜트에 포함된 다양한 종류의 불확실성을 취급하기 위하여 적분 2차 제약조건을 사용하였다. 필터 설계문제의 해가 존재할 충분조건을 볼록 최적화 기법을 사용하여 효과적으로 풀 수 있는 선형 행렬 부등식의 형태로 제시한다. 제시된 방법을 예시하기 위해서 수치 예를 보여준다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.121.2-121
• /
• 2001

Many of today´s robot are required to perform tasks which demand a high level of accuracy in end-effector positioning. Those rigid robots are very inefficient and slow because its have large and heavy links, In an attempt to solve these problems, a robots using flexible beam were created. But the single-link flexible beam is infinite-dimensional system. Many researchers have proposed controlling such a beam an approximated model consisting of a finite a number of models. In this paper, we start by deriving the analytic model for the dynamics of general single-link beam, and a controller is designed for flexible beam with integral type servo system bases of the linear matrix inequality (LM) technique. To the end, simulation results show that a designed controller guarantees affective vibration control the single-link flexible beam.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.335-335
• /
• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.

• Journal of Electrical Engineering and Technology
• /
• 제11권3호
• /
• pp.724-732
• /
• 2016

In this paper, a sampled-data observer-based decentralized fuzzy control technique is proposed for a class of nonlinear large-scale systems, which can be represented to a Takagi-Sugeno fuzzy system. The premise variable is assumed to be measurable for the design of the observer-based fuzzy controller, and the closed-loop system is obtained. Based on an exact discretized model of the closed-loop system, the stability condition is derived for the closed-loop system. Also, the stability condition is converted into the linear matrix inequality (LMI) format. Finally, an example is provided to verify the effectiveness of the proposed techniques.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제3권2호
• /
• pp.187-193
• /
• 2003

In this paper, a systematic design method of the intelligent PAM fuzzy controller for nonlinear systems using the efficient tools-Linear Matrix Inequality and the intelligent digital redesign is proposed. In order to digitally control the nonlinear systems, the TS fuzzy model is used for fuzzy modeling of the given nonlinear system. The convex representation technique also can be utilized for obtaining TS fuzzy models. First, the analog fuzzy-model-based controller is designed such that the closed-loop system is globally asymptotically stable in the sense of Lyapunov stability criterion. The simulation results strongly convince us that the proposed method has great potential in the application to the industry.

• Journal of Mechanical Science and Technology
• /
• 제19권5호
• /
• pp.1138-1147
• /
• 2005

This paper aims at demonstrating the feasibility of active control of beams with a multiobjective state-feedback control technique. The multiobjective state-feedback controller is de­signed on a linear matrix inequality (LMI) approach for the multiobjective synthesis. The design objectives are to achieve a mix of Hoo performance and H2 performance satisfying constraints on the closed-loop pole locations in the face of model uncertainties. The controller is also designed to reject the effects of the noise and external of disturbances. For the theoretical analysis, the governing equation of motion is derived by Hamilton's principle to describe the dynamics of a smart structural system. Numerical examples are presented to demonstrate the effectiveness of the integrated robust controller in damping out the multiple vibration modes of the piezo/beam system.

• 한국소음진동공학회논문집
• /
• 제13권3호
• /
• pp.172-179
• /
• 2003

Linear matrix Inequality based $H_\infty$ robust controller is designed to control the motion of a 4-axis unbalanced rigid asymmetric rotor supported and controlled by two active magnetic bearings in this paper. To this end, the equations of motion of the system are derived via Hamilton's variational principle and transformed to a state-space form for the standard $H_\infty$ control problem. LMI-based controller, which does not require additional assumptions beyond the usual stabilizability and detectability assumptions, is designed based upon the pole place weighting function and loopshaping technique. The obtained results are compared with those reported in the available literature and the efficiency of the proposed LMI-based $H_\infty$ control is revealed.