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
- 정정주
- Keywords
- Singular perturbation theory; Sawyer motors; Position feedback; Nonlinear control; Yaw regulation
- Issue Date
- 2014-10
- Publisher
- Control, Automation and Systems (ICCAS), 2014 14th International Conference on
- Citation
- 제어로봇시스템학회 국제학술대회 논문집, Vol.2014 No.10 [2014], pp.913-918
- Abstract
- In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of Sawyer motor. The method of singular perturbation is characterized by the existence of slow and fast transients in the system dynamics. Thus, we can apply to singular perturbation at sawyer motor due to separated motor dynamics into slow and fast dynamics. The proposed method so as to decouple error dynamics consist of auxiliary control. The controller is developed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the adequation of proposed method.
- URI
- http://ieeexplore.ieee.org/document/6987914/http://hdl.handle.net/20.500.11754/58463
- ISSN
- 2093-7121
- DOI
- 10.1109/ICCAS.2014.6987914
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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