@article{9672e54d464444bc90489c67b82ac060,
title = "Variable-Performance Servo System Design without Actuator Current and Angle Measurement for Rover Vehicles",
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. ",
keywords = "active-damping injection technique, adaptation algorithm, learning algorithm, Rover vehicle-tracking control",
author = "Kim, {Seok Kyoon} and Ahn, {Choon Ki}",
note = "Funding Information: 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 underGrant 2018R1A6A1A03026005, and in part by the NRF grant funded by the Korea government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. 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: lotus45kr@gmail.com). Publisher Copyright: {\textcopyright} 1967-2012 IEEE.",
year = "2020",
month = nov,
doi = "10.1109/TVT.2020.3021136",
language = "English",
volume = "69",
pages = "12725--12733",
journal = "IEEE Transactions on Vehicular Technology",
issn = "0018-9545",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "11",
}