• Title, Summary, Keyword: command generator tracker

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Decoupling Controller Design for the JINAMCHA by Using Command Generator Tracker and Eigenstructure Assignment (CGT와 고유구조 지정법을 이용한 지남차의 불연성화 제어기 설계)

  • Kim, Joo-Ho;Choi, Jae-Weon
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.6
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    • pp.176-182
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    • 1999
  • In this paper, we consider a decoupling control and a servo control for the JINAMCHA of which the cart and the pointer is coupled very strongly. The right eigenstructure assignment(i.e. simultaneous assignment of eigenvalues and right eigenvectors) is used for decoupling the motions of the cart and the pointer. The CGT(Command Generator Tracker) is used for a servo control of the JINAMCHA. The performance of the proposed control scheme, that is the combination of the right eigenstructure assignment and the CGT, is evaluated by simulations. The results show that the proposed controller has better performance than the LQR with limiting properties and the conventional LQ servo.

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Lateral Vehicle Control Based on Active Flight Control Technology

  • Seo Young-Bong;Choi Jae-Weon;Duan Guang Ren
    • Journal of Mechanical Science and Technology
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    • v.20 no.7
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    • pp.981-992
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    • 2006
  • In this paper, a lateral vehicle control using the concept of control configured vehicle (CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to follow a chosen variable without significant motion change in other specified variables. The analysis techniques for decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling (i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

Lateral Vehicle Control Based on Active Flight Control (능동비행제어기술에 기반한 자동차 횡방향 제어)

  • Seo Young-Bong;Duan Guang Ren;Choi Jae-Weon
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.10
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    • pp.1002-1011
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    • 2006
  • In this paper, a lateral vehicle control using the concept of control configured vehicle(CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to commend a chosen variable without significant motion change in other specified variables. The analysis techniques fur decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling(i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

Slewing maneuver control of flexible space structure using adaptive CGT

  • Shimada, Yuzo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.47-50
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    • 1995
  • This paper concerns an adaptive control scheme which is an extension of the simplified adaptive control. Originally, the SAC approach was developed based on the command generator tracker (CGT) theory for perfect model tracking. An attractive point of the SAC is that a control input can be synthesized without any prior knowledge about plant structure. However, a feedforward dynamic compensator of the CGT is removed from the basic structure of the SAC. This deletion of the compensator makes perfect model tracking difficult against even a step input. In this paper, an adaptive control system is redesigned to achieve perfect model tracking for as long as possible by reviving the dynamic compensator of the CGT. The proposed method is applied to slewing control of a flexible space structure and compared to the SAC responses.

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Output feedback-based model reference adaptive control for MIMO plants

  • Takahashi, Masanori;Mizumoto, Ikuro;Iwai, Zenta
    • 제어로봇시스템학회:학술대회논문집
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    • pp.181-184
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    • 1996
  • This paper deals with the design problem of model reference adaptive controllers for MIMO plants with unknown orders. A design scheme for an adaptive control system based on CGT theorem, which has hierarchical structures derived from backstepping strategies, is proposed for MIMO plants with unknown orders but with known relative MacMillan degrees(relative degrees for SISO plants). It is also shown that all the signals in the resulting control system are bounded, and that the asymptotic tracking is achieved in the case where reference inputs are step.

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