• Title, Summary, Keyword: Feedback Control Gain

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Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term

  • Michino, Ryuji;Mizumoto, Ikuro;Iwai, Zenta;Kumon, Makoto
    • International Journal of Control, Automation, and Systems
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    • v.1 no.1
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    • pp.19-27
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    • 2003
  • It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition called output feedback exponential passivity (OFEP). The designed high-gain adaptive controller has simple structure and high robustness with regard to bounded disturbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we design a robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances. The effectiveness of the proposed method is shown by numerical simulations.

Gain Scheduled State Feedback and Disturbance Feedforward Control for Systems with Bounded Control Input (제어입력 크기제한을 갖는 시스템에서 이득 스케쥴 상태되먹임-외란앞먹임 제어)

  • Kang, Min-Sig
    • Proceedings of the KSME Conference
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    • pp.915-920
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    • 2007
  • A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_{2}-gain$ from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.

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Gain Scheduled State Feedback and Disturbance Feedforward Control for Systems with Bounded Control Input - Theory (제어입력 크기제한을 갖는 시스템에서 이득 스케줄 상태되먹임-외란앞먹임 제어 - 이론)

  • Kang, Min-Sig
    • Journal of the Korean Society for Precision Engineering
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    • v.24 no.11
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    • pp.59-65
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    • 2007
  • A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_2$-gain from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.

Design of an adaptive output feedback controller for robot manipulators (로보트 매니퓰레이터에 대한 출력궤환 적응제어기 설계)

  • 이강웅
    • 제어로봇시스템학회:학술대회논문집
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    • pp.734-738
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    • 1996
  • An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain observers with same structure as error dynamic systems are used to estimate joint velocities. The parameter adaptation is achieved by the smoothed projection algorithm. The control inputs are saturated outside a domain of interest. Simulation results on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

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Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term

  • Shim, Kyu-Hong;Lim, Myo-Taeg
    • 제어로봇시스템학회:학술대회논문집
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    • pp.34.4-34
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    • 2001
  • It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition so called output feedback exponential passivity (OFEP). The designed high gain adaptive controller has simple structure and high robustness with regard to bounded disterbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we deal with a design problem of the robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances.

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Structure-Control Combined Optimal Design of 3-D Truss Structure Considering Intial State and Feedback Gain

  • Park, Jung-Hyen
    • Journal of Ocean Engineering and Technology
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    • v.17 no.4
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    • pp.66-72
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    • 2003
  • This paper proposes an optimum, problematic design for structural and control systems, taking a 3-D truss structure as an example. The structure is subjected to initial static loads and time-varying disturbances. The structure is controlled by a state feedback H$_{\infty}$ controller which suppress the effects of disturbances. The design variables are the cross sectional areas of truss members. The structural objective function is the structural weight. For the control objective, we consider two types of performance indices, The first function represents the effect of the initial loads. The second function is the norm of the feedback gain, These objective functions are in conflict with each other but are transformed into one control objective by the weighting method. The structural objectives is treated as the constraint, By introducing the second control objective which considers the magnitude of the feedback gain, we can create a design to model errors.

Partial Pole Assignment via Constant Gain Feedback in Two Classes of Frequency-domain Models

  • Wang, Guo-Sheng;Yang, Guo-Zhen;Duan, Guang-Ren
    • International Journal of Control, Automation, and Systems
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    • v.5 no.2
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    • pp.111-116
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    • 2007
  • The design problem of partial pole assignment (PPA) in two classes of frequency-domain MIMO models by constant gain feedback is investigated in this paper. Its aim is to design a constant gain feedback which changes only a subset of the open-loop eigenvalues, while the rest of them are kept unchanged in the closed-loop system. A near general parametric expression for the feedback gain matrix in term of a set of design parameter vectors and the set of the closed-loop poles, and a simple parametric approach for solving the proposed problem are presented. The set of poles do not need to be previously prescribed, and can be set undetermined and treated together with the set of parametric vectors as degrees of design freedom provided by the approach. An illustrative example shows that the proposed parametric method is simple and effective.

Robust High Gain Adaptive Output Feedback Tracking Control for Nonlinear Systems

  • Kohara, Koshiro;Mizumoto, Ikuro;Iwai, Zenta;Michino, Ryuji;Kumon, Makoto
    • 제어로봇시스템학회:학술대회논문집
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    • pp.444-444
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    • 2000
  • For a class of nonlinear systems which satisfy a certain condition so called output feedback exponential passivity (OFEP), it is well known that one can easily design a high-gain output feedback control system. The designed high-gain controller has simple structure and high robustness. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper. we deal with a design problem of the robust high-gain adaptive output feedback control for the above-mentioned class of nonlinear systems with uncertain nonlinearities and/or disturbances.

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Human Postural Response to Linear Perturbation (선형외란에 대응하는 인체의 자세응답 해석)

  • Kim, Se-Young;Park, Su-Kyung
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.33 no.1
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    • pp.27-33
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    • 2009
  • Human postural responses appeared to have stereotyped modality, such as ankle mode, knee mode and hip mode in response to various perturbations. We examined whether human postural control gain of full-state feedback could be decoupled along with the eigenvector. To verify the model, postural responses subjected to fast backward perturbation were used. Upright posture was modeled as 3-segment inverted pendulum incorporated with feedback control, and joint torques were calculated using inverse dynamics. Postural modalities such as ankle, knee and hip mode were obtained from eigenvectors of biomechanical model. As oppose to the full-state feedback control, independent eigenvector control assumes that modal control input is determined by the linear combination of corresponding modality. We used optimization method to obtain and compare the feedback gains for both independent eigenvector control and full-state feedback control. As a result, we found that simulation result of eigenvector feedback was not competitive in comparison with that of full-state feedback control. This implies that the CNS would make use of full-state body information to generate compensative joint torques.

Gain Scheduled State Feedback and Disturbance Feedforward Control for Systems with Bounded Control Input - Application (제어입력 크기제한을 갖는 시스템에서 이득 스케줄 상태되먹임-외란앞먹임 제어 - 적용)

  • Kang, Min-Sig;Yoon, Woo-Hyun
    • Journal of the Korean Society for Precision Engineering
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    • v.24 no.12
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    • pp.65-73
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    • 2007
  • In this paper, the gain scheduled state feedback and disturbance feedforward control design proposed in the previous paper has been applied to a simple matching system and a turret stabilization system. In such systems, it is needed to attenuate disturbance response effectively as long as control input satisfies the given constraint on its magnitude. The scheduled control gains are derived in the framework of linear matrix inequality(LMI) optimization by means of the MatLab toolbox. Its effectiveness is verified along with the simulation results compared with the conventional optimum constant gain control and the scheduled state feedback control cases.