Simplified Nonlinear Control for Planar Motor based on Singular Perturbation Theory
특이섭동이론을 기반으로한 평판모터의 비선형 제어

HyungDuk Seo, Donghoon Shin, Youngwoo Lee, Chung Choo Chung
2015 The Transactions of The Korean Institute of Electrical Engineers  
In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of planar motor. Singular perturbation theory is characterized by the existence of slow and fast transients in the system dynamics. The proposed method consists of auxiliary control to decouple error dynamics. We develop model reduction with control input. Also, we derIve decoupled error dynamics with auxiliary input. The controller is designed in order to guarantee the
more » ... er to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the effect of proposed method.
doi:10.5370/kiee.2015.64.2.289 fatcat:sj63e5ssmfdsxl67aov2gmbte4