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Nonlinear H2 Control of Sawyer Motors

Title
Nonlinear H2 Control of Sawyer Motors
Author
정정주
Keywords
Components, Circuits, Devices and Systems; Dynamics; State feedback; Interpolation; Vectors; Optimal control; Nonlinear dynamical systems; Position control; Linear parameter-varying systems; Control applications; Nonlinear systems
Issue Date
2014-06
Publisher
American Automatic Control Council
Citation
2014 American Control Conference American Control Conference (ACC), 2014. :765-770 Jun, 2014
Abstract
In this paper we propose a nonlinear H 2 control to improve transient response in the position control and to reduce energy consumption for the position tracking of Sawyer motors. The proposed method consists of a nonlinear torque modulation with a commutation scheme and gain scheduling LPV controller. The position control problem for the Sawyer motor is reformulated into the LPV system optimal problem. The nonlinear models of the Sawyer motors are analyzed as a LPV system. However, in LPV formulation, each vertex to guarantee the controllability should be chosen because of relationship between tracking motion and yaw motion. Hence, stabilizing the inner-loop system with state feedback controller is designed to solve above problem. The control gain scheduling is determined by using H 2 control based on linear matrix inequality (LMI) approach. Since the proposed method is designed based on optimal control with gain scheduling based on LPV synthesis, the proposed method obtains both improved transient response and reduced energy consumption in the position control.
URI
http://ieeexplore.ieee.org/document/6858893/http://hdl.handle.net/20.500.11754/47452
ISSN
0743-1619
DOI
10.1109/ACC.2014.6858893
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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