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LQG Control Design For a Coupled Ballbot Dynamical System |
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Do Van Thach, Soon-Geul Lee(Kyung Hee University, Korea) |
| In this paper, a structure of the ballbot is presented. An LQG controller is designed to stabilize the full 3D dynamic ballbot system under taking into account the presence of the noise in system states and the output. By assuming that the effected noise is AWGN. A Kalman estimator is applied to estimate the internal state of the system using the feedback of inputs. The optimal state-feedback LQR controller is designed to achieve the balancing and transferring of the under-actuated system. The simulation results show effectiveness and corectness of our approach. |
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I-PD Controller Gain Tuning using a Nonliner Optimal Control Design Method for Helicopter Attitude Control Model |
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Sota Takahashi, Shiro Masuda(Tokyo Metropolitan University, Japan) |
| This paper provides a design procedure for I-PD (Integral-Proportional Differential) controller using a finite horizon nonlinear optimal control design approach. In the proposed approach, the closed-loop system using I-PD controller is constructed. Then, the optimality condition for I-PD gain is derived by regarding the I-PD gain as fixed manipulated variables during the evaluation period. The effectiveness of the developed algorithm is shown through numerical simulation experiments for helicopter attitude control model. |
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Consensus Control of Multi-agent Systems Over Undirected Graphs with Quantized Signal Communication |
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Takumi Furusaka, Takao Sato, Nozomu Araki, Yasuo Konishi(University of Hyogo, Japan) |
| This study proposes a new design method for the consensus control of multi-agent systems with quantized signal communication.
When the static quantizer used,
the performance of the consensus control is deteriorated depending on the quantizing level.
In a conventional method,
the quantization is implemented the probability function.
On the other hand,
in the proposed method,
the dynamic quantizer is introduced,
and it is optimally designed.
As a result,
the consensus control performance is improved.
Finally, the effectiveness of the proposed method is demonstrated through numerical examples. |
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Servo/Regulation Optimization Design for Dual-rate Control Systems - Comparison of three suppression methods - |
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Takao Sato, Ryota Yasui, Natsuki Kawaguchi, Nozomu Araki, Yasuo Konishi(University of Hyogo, Japan) |
| In this study,
the optimal control system is designed using the linear quadratic regulator (LQR) method for the servo control and regulation control, respectively,
and further,
the LQR method is enhanced for suppressing oscillation phenomena by three strategies:
the introduction of a steady-state input constraint,
the penalty for the input change,
and the extension using the null-space. |
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At-Sea Test of Dynamic Positioning System for a Quad-Maran Unmanned Vessel |
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Makoto Komizo, Chenfang Zhang, Naoyuki Hara, Yasunori Nihei, Keiji Konishi(Osaka Prefecture University, Japan) |
| This paper reports a PI-based dynamic positioning (DP) control system for a quad-maran vessel. The proposed control law is implemented on a Raspberry Pi and the performance of the control law is evaluated by at-sea experiment. |
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Load Speed Control of Two-inertia System by Load Speed/Torque Estimation and Torsion Torque Compensation |
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Daehan Kim, Juhoon Back(Kwangwoon University, Korea) |
| This paper presents a disturbance observer-based controller that suppresses vibrations due to torsion torque and external disturbance so that the load speed tracks the desired reference. This is done by constructing an observer that estimates the torsion torque, load speed, and load torque at the same time and a controller that can adjust the torsion torque as desired. The proposed idea is validated through numerical simulations. |
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