The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. ex. Some numerals are expressed as "XNUMX".
Copyrights notice
The original paper is in English. Non-English content has been machine-translated and may contain typographical errors or mistranslations. Copyrights notice
입력 제약이 있는 선형 시스템에 대한 새로운 데드비트 제어 방식이 제시됩니다. 대부분의 제어 시스템에는 입력 제약이 존재하지만, 기존 데드비트 제어에서는 이를 처리하기 위한 논리적인 전략이 충분히 연구되지 않았습니다. 본 논문에서 제안하는 컨트롤러는 지연된 데드비트 추적 성능을 달성하고 허용 가능한 입력 제약을 만족시키기 위해 온라인 데드비트 추적 단계 수를 조정합니다. 데드비트 추적을 위한 단계 수를 늘리고 해당 자유도를 영공간 벡터로 공식화하면 지연된 데드비트 추적을 얻을 수 있고 불가피한 지연을 각각 최소화할 수 있습니다. LMI 타당성 문제는 수치적으로 솔루션을 구하고 피할 수 없는 단계 지연을 최소화하기 위해 해결됩니다. 결과적으로 LMI 최적화 문제에 비해 계산 노력이 줄어듭니다. 제안된 방식은 쉽게 수치적으로 구현될 수 있습니다. 6축 로봇 모델에 대한 시뮬레이션과 DC 모터 서보잉에 대한 실험 결과를 통해 실용성을 검증했습니다.
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부
Dane BAANG, Dongkyoung CHWA, "Deadbeat Control for Linear Systems with Input Constraints" in IEICE TRANSACTIONS on Fundamentals,
vol. E92-A, no. 12, pp. 3390-3393, December 2009, doi: 10.1587/transfun.E92.A.3390.
Abstract: A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.
URL: https://global.ieice.org/en_transactions/fundamentals/10.1587/transfun.E92.A.3390/_p
부
@ARTICLE{e92-a_12_3390,
author={Dane BAANG, Dongkyoung CHWA, },
journal={IEICE TRANSACTIONS on Fundamentals},
title={Deadbeat Control for Linear Systems with Input Constraints},
year={2009},
volume={E92-A},
number={12},
pages={3390-3393},
abstract={A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.},
keywords={},
doi={10.1587/transfun.E92.A.3390},
ISSN={1745-1337},
month={December},}
부
TY - JOUR
TI - Deadbeat Control for Linear Systems with Input Constraints
T2 - IEICE TRANSACTIONS on Fundamentals
SP - 3390
EP - 3393
AU - Dane BAANG
AU - Dongkyoung CHWA
PY - 2009
DO - 10.1587/transfun.E92.A.3390
JO - IEICE TRANSACTIONS on Fundamentals
SN - 1745-1337
VL - E92-A
IS - 12
JA - IEICE TRANSACTIONS on Fundamentals
Y1 - December 2009
AB - A new deadbeat control scheme for linear systems with input constraints is presented. Input constraints exist in most control systems, but in conventional dead-beat control, logical strategy to handle it has not been studied enough. The proposed controller in this paper adjusts the number of steps for dead-beat tracking on-line, in order to achieve delayed deadbeat-tracking performance and satisfy any admissible input constraint. Increasing the number of steps for dead-beat tracking and formulating the corresponding degree of freedom into null-space vectors make it possible to obtain delayed dead-beat tracking, and minimize the inevitable delay, respectively. LMI feasibility problems are solved to numerically obtain the solution and minimize the unavoidable step-delay. As a result, calculation effort is reduced compared to LMI-optimization problem. The proposed schemes can be readily numerically implemented. Its practical usefulness is validated by simulation for 6-axis robot model and experimental results for DC-motor servoing.
ER -