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상태 궤환을 이용한 H<sub>∞</sub> 반복 제어 시스템 설계
도태용,Doh, Tae-Yong 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.1
Repetitive control is a specialized control scheme to track and/or attenuate a periodic reference trajectory and/or disturbance. Most researches about repetitive control have been performed in the frequency domain. Recently, several approaches to deal with repetitive control systems in the state space are developed by representing a q filter as a state-space equation. This paper presents a design method of a repetitive control system in the state space to satisfy $H_{\infty}$ performance. The overall system is composed of a plant, a repetitive controller, and a state-feedback controller, which can be converted to a standard form used in $H_{\infty}$ control. A LMI (Linear Matrix Inequality)-based stability condition is derived for fixed state-feedback gains. Under a given q filter, another LMI condition is derived to improve $H_{\infty}$ performance and is employed to find state-feedback gains by solving an optimization problem. Finally, to verify the feasibility of the proposed method, a numerical example is demonstrated.
도태용,문정호,Doh, Tae-Yong,Moon, Jung-Ho 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.12 No.2
Convergence condition determines performance of iterative learning control (ILC), for example, convergence speed, remaining error, etc. Hence, the performance can be elevated and a feasible set of learning controllers grows if a less conservative condition is obtained. In the frequency domain, the $H_{\infty}$ norm of the transfer function between consecutive errors has been currently used to test convergence of a learning system. However, even if the convergence condition based on the $H_{\infty}$ norm has a clear property about monotonic convergence, it has a few drawbacks, especially in MIMO plants. In this paper, the relation between the condition and the monotonicity of convergence is clarified and a modified convergence condition is found out using a frequency domain Lyapunov equation, which supersedes the conventional one in the frequency domain. 반복 학습 제어에서 수렴 조건은 수렴 속도와 잔존 오차와 같은 성능을 결정한다. 따라서, 덜 신중한 수렴 조건을 구할 수 있다면, 그 성능은 향상될 것이고 사용 적합한 학습 제어기의 수는 증가된다. 주파수 영역에서, 연속적인 오차들간의 전달 함수의 $H_{\infty}$ 놈(norm)을 학습 시스템의 수렴성을 조사하기 위해 사용해왔다. 그러나, $H_{\infty}$ 놈을 바탕으로 한 수렴 조건이 단조 수렴성에 대하여 명확한 특성을 가진다하더라도, 특히, 다중 입출력 시스템에서 몇 가지 단점을 가진다. 본 논문에서 는 수렴 조건과 수렴의 단조성간의 관계를 밝힌다. 또한 주파수 영역에서 기존의 수렴 조건을 대신할 수 있는 수정된 수렴 조건을 주파수 영역 리아프노프(Lyapunov) 방정식을 이용하여 구한다.
도태용(Tae-Yong Doh) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.1
Repetitive control is a specialized control scheme to track and/or attenuate a periodic reference trajectory and/or disturbance. Most researches about repetitive control have been performed in the frequency domain. Recently, several approaches to deal with repetitive control systems in the state space are developed by representing a q filter as a state-space equation. This paper presents a design method of a repetitive control system in the state space to satisfy H∞ performance. The overall system is composed of a plant, a repetitive controller, and a state-feedback controller, which can be converted to a standard form used in H∞ control. A LMI (Linear Matrix Inequality)-based stability condition is derived for fixed state-feedback gains. Under a given q filter, another LMI condition is derived to improve H∞ performance and is employed to find state-feedback gains by solving an optimization problem. Finally, to verify the feasibility of the proposed method, a numerical example is demonstrated.
도태용(Tae-Yong Doh),문정호(Jung Ho Moon) 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.13 No.2
반복 학습 제어에서 수렴 조건은 수렴 속도와 잔존 오차와 같은 성능을 결정한다. 따라서, 덜 신중한 수렴 조건을 구할 수 있다면, 그 성능은 향상될 것이고 사용 적합한 학습 제어기의 수는 증가된다. 주파수 영역에서, 연속적인 오차들간의 전달함수의 H ∞ 놈(norm)을 학습 시스템의 수렴성을 조사하기 위해 사용해왔다. 그러나, H ∞ 놈을 바탕으로 한 수렴 조건이 단조 수렴성에 대하여 명확한 특성을 가진다하더라도, 특히, 다중 입출력 시스템에서 몇 가지 단점을 가진다. 본 논문에서는 수렴 조건과 수렴의 단조성간의 관계를 밝힌다. 또한 주파수 영역에서 기존의 수렴 조건을 대신할 수 있는 수정된 수렴 조건을 주파수 영역 리아프노프(Lyapunov) 방정식을 이용하여 구한다. Convergence condition determines performance of iterative learning control (ILC), for example, convergence speed, remaining error, etc. Hence, the performance can be elevated and a feasible set of learning controllers grows if a less conservative condition is obtained. In the frequency domain, the H ∞ norm of the transfer function between consecutive errors has been currently used to test convergence of a learning system. However, even if the convergence condition based on the H ∞ norm has a clear property about monotonic convergence, it has a few drawbacks, especially in MIMO plants. In this paper, the relation between the condition and the monotonicity of convergence is clarified and a modified convergence condition is found out using a frequency domain Lyapunov equation, which supersedes the conventional one in the frequency domain.
공공 안내 로봇을 위한 인체 검출 기반의 방향성 감지 시스템
도태용(Tae-Yong Doh),백정현(Jeong Hyun Baek) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.5
Most public guide robots installed in public spots such as exhibition halls and lobbies of department store etc., have poor capability to distinguish the users who require services. As to provide suitable services, public guide robots should have a human detection system that makes it possible to evaluate intention of customers from their movement direction. In this paper, a DPS (Directional Perception System) is realized based on face detection technology. In particular, to catch human movement efficiently and reduce computational time, human detection technology using face rectangle, which is obtained from the human face, is developed. DPS determines which customer needs services of public guide robots by investigating the size and direction of face rectangle. If DPS is adapted, guide service will be provided with more satisfaction and reliability, and power efficiency also can be added up because public guide robots provide services only for the users who expresses their intentions of wanting services explicitly. Finally, through several experiments, the feasibility of the proposed DPS is verified.
디지털 제어기의 부분적 초기값 보상을 통한 천이 응답 특성 향상
도태용(Tae-Yong Doh),류정래(Jung Rae Ryoo) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.4
In switching from the track-seeking or track-jumping control mode to track-following control mode in hard disk drives or optical disk drives, initial values of the feedback controller are tuned to improve the transient response. In general, all the initial values of the controller have been compensated for this purpose. In this paper, by partially compensating initial values of digital controllers, we achieve a good performance of the transient response. In the proposed method for IVC (Intial Value Compensation), LMIs (Linear Matrix Inequalities) are used, which includes conditions for improving the performance of the transient response such as reducing a tracking error and control efforts. We obtain optimal initial values of the controller by solving an optimization problem with constraints represented by only one LMI. Although initial values of the controller are partially compensated, we can show that not only a sufficient performance of the transient response is obtained but also control efforts are diminished. The feasibility of the method is verified by simulation studies.