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Simplified Nonlinear Control for Planar Motor based on Singular Perturbation Theory
HyungDuk Seo(서형덕),Donghoon Shin(신동훈),Youngwoo Lee(이영우),Chung Choo Chung(정정주) 대한전기학회 2015 전기학회논문지 Vol.64 No.2
In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of planar motor. 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 derIve 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.