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Sudchai Boonto,Chawalit Thabthimrattana,Wutthichai Polwisate 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The paper discusses a two-degree-of-freedom controller design based on a convex-concave optimization technique. The improvement of the reference tracking performance of an unstable system is considered. Combining both feedback and feedforward fixed-structure controller is preferable for practical work. The optimization constraints are functions in a frequency domain for the feedback control, and the bounded value constraints of the feedforward part are done in time-domain absolute values. The proposed method is tested with an unstable magnetic levitation system. The result shows the two-degree-of-freedom controller can improve the transient response significantly.
Robust Repetitive Control with Feedforward Scheme for Stand-Alone Inverter
Wiboon Sintanavevong,Sudchai Boonto,Sumate Naetiladdanon 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper proposes the combining of μ-synthesis robust repetitive control and feedforward control scheme to the design of constant sinusoidal voltage tracking for a stand-alone three-phase constant voltage inverter. The controller designed problem is defined in the form of two-degree-of-freedom feedback-feedforward controller. The D-K iterative algorithm is used to solve for both parts of the controller in one procedure to get the optimal controller. The proposed control scheme inherits the advantage of the robust repetitive control but does better in tracking performance. Simulation studies of the system were carried out using Matlab/SIMULINK to verify the effectiveness of the controller. The results show that the proposed control scheme outperforms the previous works under the scenario cases.
Kelin Li,Sudchai Boonto,Thanana Nuchkrua 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.7
We present the method of online self-tuning PD controller for the problem of contouring control of robot manipulators. Previously, the dynamics of the robot is transformed into dynamic errors problem by considering the equivalent errors method. It becomes the control problem of stabilization such that it is suitable for advanced control to improve control performance regarding contouring control, i.e., contour accuracy with high speed. Conventional PD tuned by the fuzzy controller with robust extended Kalman filter where it was acting as the robust adaptive controller is utilized to stabilize that control problem. It could determine the stationary point of different processes without knowing prior. In practice, the proposed controller is easily dealt with the problem of stabilization. The experiment results reveal that the proposed technique yields excellent performance under a large disturbance.
Robust PID Controller Design Using Convex-Concave Optimization
Chawalit Thabthimrattana,Surachai Saelim,Suchol Tiewcharoen,Sudchai Boonto 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper shows a PI with phase-lead controller design using convex-concave optimization. The phase-lead term is added to reduce a high frequency measurement noise effect. By fixing all parameters of the phase-lead part, the optimization program searches the remain parameters subject to robustness constraints. The optimization constraints are functions in a frequency domain. The design problem can be solved by frequency gridding on a software package CVX. Experiments on an unstable magnetic levitation system are presented. The proposed controller shows significantly better performance than a robust H∞ controller designed by a standard method on the same unstable system.