LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors
This study presents LPV H<sub>∞</sub> control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed control method consists of the forces and torque modulation scheme, an ANOB, and a Lyapunov-based current control...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/10/1/18 |
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| author | Khac Huan Su Kwankyun Byeon Wonhee Kim Youngwoo Lee |
| author_facet | Khac Huan Su Kwankyun Byeon Wonhee Kim Youngwoo Lee |
| author_sort | Khac Huan Su |
| collection | DOAJ |
| description | This study presents LPV H<sub>∞</sub> control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed control method consists of the forces and torque modulation scheme, an ANOB, and a Lyapunov-based current controller with the LPV H<sub>∞</sub> state feedback controller to guarantee the stability of tracking error dynamics. The ANOB is designed to estimate all the state variables including the position, velocity, current, and disturbance using only position feedback. We propose a vertex expansion technique to solve the influence of the convex interpolation parameters in the LPV system on the tracking error performance. To be robust against disturbance, a state feedback controller with the LPV gain scheduling is determined by applying the H<sub>∞</sub> control in the linear-matrix-inequality (LMI) technique. The closed-loop stability is proved through the Lyapunov theory. The effectiveness of the proposed control method is evaluated through simulation results and compared with the conventional proportional-integral-derivative (PID) control method to verify both the improved tracking error performance and a suitable disturbance rejection. |
| first_indexed | 2024-03-10T03:33:13Z |
| format | Article |
| id | doaj.art-d611f305990541e1a8fcd14bf5a82ac1 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T03:33:13Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-d611f305990541e1a8fcd14bf5a82ac12023-11-23T11:52:52ZengMDPI AGMathematics2227-73902021-12-011011810.3390/math10010018LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer MotorsKhac Huan Su0Kwankyun Byeon1Wonhee Kim2Youngwoo Lee3Department of Electrical Engineering, Chonnam National University, Gwangju 61186, KoreaDepartment of Energy System Engineering, Chung-Ang University, Seoul 06974, KoreaSchool of Energy System Engineering, Chung-Ang University, Soeul 06974, KoreaDepartment of Electrical Engineering, Chonnam National University, Gwangju 61186, KoreaThis study presents LPV H<sub>∞</sub> control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed control method consists of the forces and torque modulation scheme, an ANOB, and a Lyapunov-based current controller with the LPV H<sub>∞</sub> state feedback controller to guarantee the stability of tracking error dynamics. The ANOB is designed to estimate all the state variables including the position, velocity, current, and disturbance using only position feedback. We propose a vertex expansion technique to solve the influence of the convex interpolation parameters in the LPV system on the tracking error performance. To be robust against disturbance, a state feedback controller with the LPV gain scheduling is determined by applying the H<sub>∞</sub> control in the linear-matrix-inequality (LMI) technique. The closed-loop stability is proved through the Lyapunov theory. The effectiveness of the proposed control method is evaluated through simulation results and compared with the conventional proportional-integral-derivative (PID) control method to verify both the improved tracking error performance and a suitable disturbance rejection.https://www.mdpi.com/2227-7390/10/1/18Sawyer motorslinear parameter varying (LPV) systemdisturbance observeraugmented observerlinear matrix inequality (LMI)H<sub>∞</sub> control |
| spellingShingle | Khac Huan Su Kwankyun Byeon Wonhee Kim Youngwoo Lee LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors Mathematics Sawyer motors linear parameter varying (LPV) system disturbance observer augmented observer linear matrix inequality (LMI) H<sub>∞</sub> control |
| title | LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors |
| title_full | LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors |
| title_fullStr | LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors |
| title_full_unstemmed | LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors |
| title_short | LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors |
| title_sort | lpv h sub ∞ sub control with an augmented nonlinear observer for sawyer motors |
| topic | Sawyer motors linear parameter varying (LPV) system disturbance observer augmented observer linear matrix inequality (LMI) H<sub>∞</sub> control |
| url | https://www.mdpi.com/2227-7390/10/1/18 |
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