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비모형화 특성 및 외란을 갖는 비선형 시스템에 대한 강인한 적응 제어기 설계에 관한 연구
현근호,양해원 漢陽大學校 工學技術硏究所 1998 工學技術論文集 Vol.7 No.1
In this paper we present a robust adaptive backstepping output-feedback controller for nonlinear systems perturbed by unmodelled dynamics and disturbances. The adaptive backstepping controller has been extremely successful in the last several years for nominal nonlinear and linear systems. However, the systems perturbed by unmodelled dynamics and disturbances have not been well studied in case of the adaptive backstepping controller. We will use "Switching-σ Modification" in the update law which has been used in the conventional robust adaptive controller and a modified control law to attenuate the effects of unmodelled dynamics and disturbances for nonlinear systems. The plant dynamics that ale represented by an output-feedback form will be transformed to the adaptive observer form by the recently developed Marino-Tomei (MT) filter. We analyze convergence, stability and transient characteristics of the resulting closed-loop system. The feasibility of the proposed controller and its performance are demonstrated by some suitable simulations.
Design of a Speed Controller for the Synchronous Motor in Electric Vehicle
현근호(Hyun Keun-Ho) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.10
In this paper, a robust adaptive backstepping controller will be proposed for the speed control of permanent magnet synchronous motors in using electrical vehicles. Stator resistance, damping coefficient, load torque are considered as uncertainties and noise generated at applying load torque to motor is also considered. It shows that the backstepping algorithm can be used to solve the problems of nonlinear system very well and robust controller can be designed without the variation of adaptive law. Simulation results are provided to demonstrate the effectiveness of the proposed controller.