A Simplified Nonlinear Control for Sawyer Motors based on Singular Perturbation Theory
- Title
- A Simplified Nonlinear Control for Sawyer Motors based on Singular Perturbation Theory
- Author
- 서형덕
- Advisor(s)
- 정정주
- Issue Date
- 2015-02
- Publisher
- 한양대학교
- Degree
- Master
- Abstract
- In this paper, we propose nonlinear control based on singular perturbation theory
for position tracking and yaw regulation of Sawyer motors. 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 deruve 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
- https://repository.hanyang.ac.kr/handle/20.500.11754/129044http://hanyang.dcollection.net/common/orgView/200000425657
- Appears in Collections:
- GRADUATE SCHOOL[S](대학원) > ELECTRICAL ENGINEERING(전기공학과) > Theses (Master)
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