Simplified Nonlinear Control for Planar Motor based on Singular Perturbation Theory

Title
Simplified Nonlinear Control for Planar Motor based on Singular Perturbation Theory
Other Titles
특이섭동이론을 기반으로한 평판모터의 비선형 제어
Authors
정정주
Keywords
Singular perturbation theory; planar motors; Position feedback; Nonlinear control; Yaw regulation
Issue Date
2015-02
Publisher
대한전기학회
Citation
전기학회논문지, v. 64, NO 2, Page. 289-296
Abstract
In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of planar motor. Singular perturbation theory is characterized by the existence of slow and fast transients in the system dynamics. The proposed method consists of auxiliary control to decouple error dynamics. We develop model reduction with control input. Also, we derIve decoupled error dynamics with auxiliary input. The controller is designed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the effect of proposed method.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE06140195http://hdl.handle.net/20.500.11754/22376
ISSN
1975-8359; 2287-4364
DOI
http://dx.doi.org/10.5370/KIEE.2015.64.2.289
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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