Variable-Performance Servo System Design without Actuator Current and Angle Measurement for Rover Vehicles

Seok Kyoon Kim; Choon Ki Ahn

doi:10.1109/TVT.2020.3021136

Variable-Performance Servo System Design without Actuator Current and Angle Measurement for Rover Vehicles

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journal › Article › peer-review

8 Citations (Scopus)

Abstract

This study devises a variable-performance control law for rover vehicles servoing velocity and pitch angle commands. This considers both vehicle and actuator dynamics as well as load and parameter variations. The main merits are summarized as follows. First, the proposed auto-tuning law magnifies the feedback gain for desired systems to achieve transient performance improvement with the convergence property guarantee. Second, the collaboration of pole-zero cancellation controller and disturbance observers eliminates over/undershoots through closed-loop order reduction by a special form of feedback gain. Beneficial closed-loop properties are also derived from the closed-loop analysis. The prototype rover vehicle built with TETRIX and MyRIO-1900 experimentally validates the closed-loop performance and robustness improvement.

Original language	English
Article number	9184984
Pages (from-to)	12725-12733
Number of pages	9
Journal	IEEE Transactions on Vehicular Technology
Volume	69
Issue number	11
DOIs	https://doi.org/10.1109/TVT.2020.3021136
Publication status	Published - 2020 Nov

Bibliographical note

Funding Information:
Manuscript received June 7, 2020; revised August 13, 2020; accepted August 30, 2020. Date of publication September 2, 2020; date of current version November 12, 2020. This work was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. The review of this article was coordinated by Dr. D. Cao. (Corresponding author: Choon Ki Ahn.) Seok-Kyoon Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail: [email protected]).

Publisher Copyright:
© 1967-2012 IEEE.

Keywords

Rover vehicle-tracking control
active-damping injection technique
adaptation algorithm
learning algorithm

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Electrical and Electronic Engineering
Applied Mathematics

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10.1109/TVT.2020.3021136

Cite this

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abstract = "This study devises a variable-performance control law for rover vehicles servoing velocity and pitch angle commands. This considers both vehicle and actuator dynamics as well as load and parameter variations. The main merits are summarized as follows. First, the proposed auto-tuning law magnifies the feedback gain for desired systems to achieve transient performance improvement with the convergence property guarantee. Second, the collaboration of pole-zero cancellation controller and disturbance observers eliminates over/undershoots through closed-loop order reduction by a special form of feedback gain. Beneficial closed-loop properties are also derived from the closed-loop analysis. The prototype rover vehicle built with TETRIX and MyRIO-1900 experimentally validates the closed-loop performance and robustness improvement. ",

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note = "Funding Information: Manuscript received June 7, 2020; revised August 13, 2020; accepted August 30, 2020. Date of publication September 2, 2020; date of current version November 12, 2020. This work was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. The review of this article was coordinated by Dr. D. Cao. (Corresponding author: Choon Ki Ahn.) Seok-Kyoon Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail: [email protected]). Publisher Copyright: {\textcopyright} 1967-2012 IEEE.",

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Variable-Performance Servo System Design without Actuator Current and Angle Measurement for Rover Vehicles

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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