• Title/Summary/Keyword: State-Variable Feedback Controller

Search Result 60, Processing Time 0.027 seconds

CONTROLLER DESIGN FOR A ROBOTIC MANIPULATOR DELAYED FEEDBACK (Delayed Feedback을 이용한 로보트 제어기의 설계)

  • ;Chyung, Dong H.
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 1990.10a
    • /
    • pp.145-148
    • /
    • 1990
  • In this paper, the problem of designing a feedback controller for a robotic manipulator, which is activated by a D.C. motor through a gear train and a flexible shaft or chain, is considered. When the response of the closed loop control system is relatively slow, a satisfactory controller may be designed as a PID controller. As the speed of the control system increases, however, the spring effect of the linkage becomes profound, and as a result, the transient response exhibits a substantial oscillation. To eliminate this oscillation, it is necessary to design the controller based on at least a fourth order system model. This, in turn, requires the feedback of the entire state variables. In practice, however, only the position of the manipulator and the velocity of the motor are readily measurable. The state variable reconstruction method or a state observer cannot be used because of the system nonlinearities such as the Coulomb frictions. In this study, an alternative controller, which is based on delayed feedback of the output variable only, is proposed, and a successful delayed feedback controller is designed and implemented on an actual experimental manipulator.

  • PDF

DESIGN OF ADAPTIVE CONTROLLER OF DC SERVO MOTOR (직류전동기의 적응 제어기 설계에 관한 연구)

  • Chang, S.G.;Won, J.S.
    • Proceedings of the KIEE Conference
    • /
    • 1987.11a
    • /
    • pp.25-28
    • /
    • 1987
  • Design procedure of adaptive controller with variable load condition is present and applied to velocity control of small, permanent magnet DC servo motor. The state feedback control scheme is adopted and Recursive Least Squares algorithm is used for parameter estimation. In order to reduce the time consuming. In the procedure of adaptation-gain tuning of state feedback controller, approximate curve fitting technique is applied to the relations between load condition and poles of the system, load condition and feedback gains. With this method, fast adaptation can be accomplished. It is shown that this procedure can be applied not only to variable load condition but also to variation of other system constants, for example variation of resistance and inductance etc.. Simulation results is present for both cases - variable inertia load, variable motor resistance to verify performance improvements. This design procedure produces an adaptive con troller which is feasible for implementation with microprocessor by reducing calculation time.

  • PDF

Shifting Controller Design via Exact Feedback Linearization of a Spherical Continuously Variable Transmission (구체무단변속기의 비선형 피드백제어기 설계)

  • Kim, Jung-Yun;Kim, Kye-Ree;Park, Yeong-Il;Park, Chong-Woo;Lee, Jang-Moo
    • Proceedings of the KSME Conference
    • /
    • 2001.06b
    • /
    • pp.110-115
    • /
    • 2001
  • The spherical CVT, intended to overcome some of the limitations of existing CVT designs, is marked by its simple kinematic design, improved efficiency of the shift actuator, and IVT characteristics, i.e., the ability of smooth transition between the forward, neutral, and reverse states without the need for any brakes or clutches. And it has been promised much possibility of energy savings and various applications for small power capacity machinery. Due to the nonlinearity of the spherical CVT shifting dynamics, however the original open-loop system is inherently unstable. Hence a feedback controller is necessary to make the system stable and to achieve effective tracking performance. To do this, we designed a feedback controller that cancels nonlinearities and transforms the original nonlinear system dynamics into a stable and controllable linear one, based on the input-state linearization method.

  • PDF

Output feedback semiglobal stabilization for a nonlinear system (광범위한 안정 영역을 갖는 출력만을 이용한 제어기 설계)

  • 오성록
    • Journal of the Korean Institute of Telematics and Electronics S
    • /
    • v.34S no.9
    • /
    • pp.60-66
    • /
    • 1997
  • WE consider the stabilization of a class of multivariable nonlinear system using variable structure output feedback control. A high-gain observer is used to estimate state variable while rejecting the effect of the disturbances. We design a globally bounded output feedback variable structure controller that semi-globally stabilize the closed-loop system, while state variables do not exhibit a peaking.

  • PDF

Optimal Sliding-Mode Controller Design based on State Observer (관측기 기반 하의 최적 슬라이딩 모드 제어기 설계)

  • Hong, Min-Suk;You, Kwan-Ho
    • Proceedings of the KIEE Conference
    • /
    • 2005.05a
    • /
    • pp.119-121
    • /
    • 2005
  • The sliding-mode control technique could make a system unstable which external disturbance and uncertainty exists in. This paper suggests a robust sliding-mode control algorithm which can be applied to a linear system with parameter uncertainties. To reduce the chattering effect, the whole system is comprised of using a state variable in which the state's estimated value is added. The condition of estimated state results from state observer. The proposed control algorithm uses the optimal feedback controller following the dynamic system equation which consists of a state variable resulting from its own state variable, controller input, estimated state variable. Through comparison with the time optimal control algorithm using simulation, the suggested algorithm shows the improved stability and robustness while it manifests the fast tracking characteristics.

  • PDF

Stabilization of Ball-Beam System using RVEGA SMC (RVEGA SMC를 이용한 Ball-Beam 시스템의 안정화)

  • Kim, Tae-Woo;Lee, Joon-Tark
    • The Transactions of the Korean Institute of Electrical Engineers A
    • /
    • v.48 no.10
    • /
    • pp.1327-1334
    • /
    • 1999
  • The stabilization control of ball-beam system is difficult because of its nonlinearity and structural unstability. Futhermore, a series of classical methods such as the PID and the full state feedback controller(FSFC) based on the local linearizations have narrow stabilizable regions. At the same time, the fine tunings of their gain parameters are also troublesome. Therefore, in this paper, three improved design techniques of stabilization controller for a ball-beam system were proposed. These parameter tuning methods in the double PID controller(DPIDC), the FSFC and the a sliding mode controller(SMC) were dependent upon the Real Value Elitist Genetic Algorithm (RVEGA). Finally, by applying the DPIDC, the FSFC and the Real Variable Elitist Genetic Algorithm based Sliding Mode Control(RVEGA SMC) to the stabilizations of a ball-beam system, the performances of the RVEGA SMC technique were showed to be superior to those of two other type controllers.

  • PDF

Sliding Mode Control of Three-Phase Four-Leg Inverters via State Feedback

  • Yang, Long-Yue;Liu, Jian-Hua;Wang, Chong-Lin;Du, Gui-Fu
    • Journal of Power Electronics
    • /
    • v.14 no.5
    • /
    • pp.1028-1037
    • /
    • 2014
  • To optimize controller design and improve static and dynamic performances of three-phase four-leg inverter systems, a compound control method that combines state feedback and quasi-sliding mode variable structure control is proposed. The linear coordinate change matrix and the state variable feedback equations are derived based on the mathematical model of three-phase four-leg inverters. Based on system relative degrees, sliding surfaces and quasi-sliding mode controllers are designed for converted linear systems. This control method exhibits the advantages of both state feedback and sliding mode control. The proposed controllers provide flexible dynamic control response and excellent stable control performance with chattering suppression. The feasibility of the proposed strategy is verified by conducting simulations and experiments.

A controller design using modal decomposition of matrix pencil

  • Shibasato, Koki;Shiotsuki, Tetsuo;Kawaji, Shigeyasu
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 2000.10a
    • /
    • pp.492-492
    • /
    • 2000
  • This paper proposes LQ optimal controller design method based on the modal decomposition. Here, the design problem of linear time-invariant systems is considered by using pencil model. The mathematical model based on matrix pencil is one of the most general representation of the system. By adding some conditions the model can be reduced to traditional system models. In pencil model, the state feedback is considered as an algebraic constraint between the state variable and the control input variable. The algebraic constraint on pencil model is called purely static mode, and is included in infinite mode. Therefore, the information of the constant gain controller is included in the purely static mode of the augmented system which consists of the plant and the control conditions. We pay attention to the coordinate transformation matrix, and LQ optimal controller is derived from the algebraic constraint of the internal variable. The proposed method is applied to the numerical examples, and the results are verified.

  • PDF

Static VAR Compensator-based Feedback Control Implementation for Self-Excited Induction Generator Terminal Voltage Regulation Driven by Variable-Speed Prime Mover

  • Ahmed, Tarek;Nishida, Katsumi;Nakaoka, Mutsuo
    • Journal of Power Electronics
    • /
    • v.4 no.2
    • /
    • pp.65-76
    • /
    • 2004
  • In this paper, the steady-state analysis of the three-phase self-excited induction generator (SEIG) driven by a variable-speed prime mover (VSPM) such as a wind turbine is presented. The steady-state torque-speed characteristics of the VSPM are considered with the three-phase SEIG equivalent circuit for evaluating the operating performances due to the inductive load variations. Furthermore, a PI closed-loop feedback voltage regulation scheme based on the static VAR compensator (SVC) for the three-phase SEIG driven by the VSPM is designed and considered for the wind power generation conditioner. The simulation and experimental results prove the practical effectiveness of the additional SVC with the PI controller-based feedback loop in terms of fast response and high performances.

A State Feedback Controller Design for a Networked Control System with a Markov Delay (마코프 지연을 갖는 네트워크 제어 시스템을 위한 상태 궤환 제어기 설계)

  • Yang, Janghoon
    • Journal of Advanced Navigation Technology
    • /
    • v.24 no.6
    • /
    • pp.549-556
    • /
    • 2020
  • This paper proposes several suboptimal methods of designing a controller for a networked control system with state feedback where delay due to transmission error and transmission delay is modeled as a Markov process. A stability condition for a control system with Markov delay is found through an equivalent relationship that corresponding delay-dependent Lyapunov-Krasovskii functional has the same form of the Lyapunov function of an augmented control system. Several suboptimal methods of designing a controller from the stability condition are proposed to reduce complexity. A simple numerical experiment shows that a restricted subspace method which limits the search space of a matrix variable to a block diagonal form provides the best tradeoff between the complexity and performance.