• 제목/요약/키워드: Saturating Actuator

검색결과 18건 처리시간 0.026초

Adaptive Control with Antiwindup Scheme for Relaxed Static Stability(RSS) Missiles with Saturating Actuator

  • Kim, Young-Hwan;Chwa, Dong-Kyung;Im, Ki-Hong;Choi, Jin-Young
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2001년도 ICCAS
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    • pp.54.4-54
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    • 2001
  • This paper proposes an adaptive control scheme for an autopilot design of Relaxed-Static-Stability(RSS) Missiles with saturating actuator. The feedback linearization controller eliminates nonlinear terms in RSS missile dynamics and makes the entire system linear. But modeling errors, disturbances and the nonlinear mismatch due to input constraints exert a bad influence on the performance of the feedback linearization controller Thus, first, we derive a parametric affine uncertainty model with modeling errors and disturbances. Then an adaptive control law with anti-windup scheme is developed, where the bounds of uncertainties are estimated with adaptive laws. The proposed adaptive controller can remove the bad effects of uncertainties, of disturbances, and of saturating actuator ...

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와인드업 방지 보상기의 점프공진 제거 특성 (Anti-Jump Resonance Characteristics of Anti-Windup Compensator for Systems with a Saturating Actuator)

  • 장원욱;노현석;박영진
    • 대한기계학회논문집
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    • 제17권6호
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    • pp.1342-1350
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    • 1993
  • 본 논문에서는 참고문헌(12)에서 개발된 와인드업 방지 보상기를 사용하여 점프공진 현상을 제거할 수 있음을 참고문헌(16)에 제시된 방법에 기초하여 보이고 이를 위한 보상기 이득 결정 방법을 제시하려 한다.

입력에 포화기를 가진 제어시스템의 성능향상 (Performance Enhancement of Control Systems with Saturating Actuators)

  • 박종구;최종호
    • 대한전기학회논문지
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    • 제38권5호
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    • pp.380-387
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    • 1989
  • The Conventional-Anti-reset-Windup (CAW) structure gives pretty good performance among the conventional strategies that prevent systems from saturation, but there is no systematic way of designing the control systems. Also, it frequently destabilizes the systems. Moreover, the CAW structure cannot be applied when the output of the saturating actuator cannot be measured. Therefore the CAW structure is modified to accommodate this situation. An effective designing method is proposed to give better performance of the control system. The stability of the control system is also considered. The usefulness of the proposed method is shown by applying this method to a few examples.

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포화 구동기를 갖는 시간 지연 시스템의 제어기 설계 (Robust stabilization of uncertain time-delay systems with saturating actuator)

  • 조현주;박주현
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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    • pp.702-704
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    • 2004
  • This paper focuses on the problem of asymptotic stabilization for uncertain time-delay systems with saturating actuator. We propose a state feedback controller which maximizes the delay bound for guaranteeing stability of the system. Then, based on the Lyapunov method, a delay-dependent stabilization criterion is devised by taking the relationship between the terms in the Leibniz-Newton formula into account. The criterion is represented in terms of LMIs, which can be solved by various efficient convex optimization algorithm. Numerical examples are given to illustrate our main method.

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포화 요소가 있는 계를 위한 와인드업 방지 보상 방법 (A novel anti-windup compensation for systems with saturating actuator)

  • 장원욱;박영진
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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    • pp.299-304
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    • 1991
  • A novel approach based on a nonlinear compensator is proposed to prevent 'windup', which is caused by the saturation of the actuator and the integration action of the controller. The anti-windup compensator is located between the conventional linear controller, designed neglecting the saturation, and the actuator. It was proven based on the describing function method that, if the closed loop control systems are stable assuming no saturation, then there exist a range of compensator gain which prevents any limit-cycle and hence, guarantees the system stability. The computer simulation results show that the compensator proposed in the manuscript can eliminate unstable limit cycle and improve the transient response.

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포화 구동기를 갖는 시간 시연 선형 시스템의 H 제어 (H Control of Time-Delayed Linear Systems with Saturating Actuators)

  • 송용희;김진훈
    • 전기학회논문지
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    • 제59권8호
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    • pp.1464-1470
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    • 2010
  • In this paper, we consider the $H_{\infty}$ control of time-delayed linear systems with saturating actuators. The considered time-delay is a time-varying one having bounds on magnitude and time-derivative, and the control permits the predetermined degree of saturation. Based on two modified Lyapunov-Krasovskii(L-K) functionals, we derive a $H_{\infty}$ control in the form of linear matrix inequalities(LMI) having three non-convex design parameters. The result is dependent on the characteristics of time-delay, predetermined degree of saturation level, and bound of disturbance. Finally, we give a comparative example to show the effectiveness and usefulness of our result.

포화 구동기를 갖는 선형 시스템의 $H_{\infty}$ 제어기 설계 ($H_{\infty}$ Controller Design of Linear Systems with Saturating Actuators)

  • 조현철;김진훈
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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    • pp.494-496
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    • 1999
  • In this paper, we consider the design of a state feedback $H_{\infty}$ controller for uncertain linear systems with saturating actuators. We consider a general saturating actuator and employ the additive decomposition to deal with it effectively. And the considered uncertainty is the unstructured uncertainty which is only known its norm bound. Based on Linear Matrix Inequality(LMI) techniques, we present a condition on designing a controller that guarantees the $L_2$ gain, from the noise to the output, is not greater than a given value. A controller is obtained by checking the feasibility of three LMI's, and this can be easily done by well-known control package. Finally, we show the usefulness of our result by a numerical example.

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포화 구동기를 갖는 선형 시스템의 $H_{\infty}$ 제어기 설계 ($H_{\infty}$ Controller Design of Linear Systems with Saturating Actuators)

  • 조현철;김진훈
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1999년도 하계학술대회 논문집 B
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    • pp.596-598
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    • 1999
  • In this paper, we consider the design of a state feedback $H_{\infty}$ controller for linear systems with saturating actuators. We consider a general saturating actuator and employ the multiplicative decomposition to deal with it effectively. Based on Linear Matrix Inequality (LMI) techniques, we present a condition on designing a controller that guarantees the $L_2$ gain, from the noise to the output, is not greater than a given value. A controller is obtained by checking the feasibility of three LMI's, and this can be easily done by well-known control package. Finally, we show the usefulness of our result by a numerical example.

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포화 구동기를 갖는 시간지연 선형시스템의 $H_{\infty}$ 추종 제어기 ([ $H_{\infty}$ ] Tracking Control of Time-delayed Linear Systems with Saturating Actuators)

  • 이연규;김진훈
    • 전기학회논문지
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    • 제57권4호
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    • pp.668-676
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    • 2008
  • In this paper, we considered the $H_{\infty}$ tracking control for time-delayed linear systems with saturating actuators. The considered time delay is a time varying one having bounded magnitude and rate, and the considered tracking reference is a general one only known its bounds of magnitude and rate. First, we have converted the $H_{\infty}$ tracking control problem into an equivalent $H_{\infty}$ disturbance attenuation problem using two steps of transformations. Next, based on a new Lyapunov-Krasovskii functional, we have derived the result in the form of LMI with two non-convex parameters. Finally, by numerical examples, we have shown the usefulness and effectiveness of our result.

포화구동기를 갖는 선형 시스템의 H$\infty$ 추종 제어기 설계 (Design of H$\infty$ tracking control for linear systems with saturating actuators)

  • 이연규;김명순;김진훈
    • 대한전기학회논문지:시스템및제어부문D
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    • 제54권4호
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    • pp.235-242
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    • 2005
  • In this paper, we consider the H$\infty$ tracking control of linear system with a limited actuator capacity. The considered reference is a general time-varying one with bounded magnitude and rate. By adopting a similarity transform and a new sto variable, we convert the original system equation to new one which has a tracking error as a part of the new state variable. First, we obtain a result on the low-gained H$\infty$ tracking control which never permits the actuator saturation. Next, we give a result on scheduled H$\infty$ tracking control which uses the actuator capacity more effectively. All results are in the form of linear matrix inequalities(LMI) which can be easily checked their feasibility. Finally, we give a numerical example to show the validity and usefulness of our results.