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유세선,길정환,김원희 대한전기학회 2019 Journal of Electrical Engineering & Technology Vol.14 No.4
This paper proposes an extended state observer-based robust position tracking control for DC motor with external disturbance and system uncertainties. In this control strategy, external disturbance and acceleration dynamics, including uncertainty of the input parameter, are lumped in the disturbance using acceleration dynamics. An extended state observer (ESO) is designed to estimate the disturbance and full states, whereas a position tracking controller is designed to compensate for the disturbance. The stability of a closed-loop system is investigated using Lyapunov theory. The proposed method guarantees the semi-global uniform ultimate boundedness of the position tracking error using only position feedback for unknown nonlinear systems with external disturbance. The proposed method is simple and robust against external disturbance and parameter uncertainties. In addition, only nominal parameter values of the input gain are required. The proposed method was experimentally verifi ed, and it exhibited improved position tracking performance compared to other methods using state feedback and ESO-based conventional DC motor models.
ABS를 위해 휠 속 피드백 만을 이용한 Extremum-Seeking Algorithm 기반 최대 마찰력 제어
유세선(Sesun You),김원희(Wonhee Kim) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
In this paper, we propose a maximum friction control based on extremum-seeking algorithm using only wheel speed feedback for anti-lock braking system (ABS) in electric vehicles. In the proposed control strategy, the disturbance observer is designed to estimate the longitudinal tire-road friction. Based on the extremum-seeking algorithm, an optimal desired reference generator is designed, which provides optimal desired wheel speed in real-time to achieve the maximum tire-road friction, according to road surface conditions. A wheel speed tracking controller is developed to guarantee an upper bound of tracking errors. The performance of the proposed method is validated via simulations by using CarSim and MATLAB/Simulink for split road surface. The proposed method, which only employs a wheel speed sensor, achieves a shorter braking distance and stopping time in comparison with classical ABS.