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

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Article number9184984
Pages (from-to)12725-12733
Number of pages9
JournalIEEE Transactions on Vehicular Technology
Volume69
Issue number11
DOIs
Publication statusPublished - 2020 Nov

Keywords

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

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics

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