시변 추종제어기를 위한 디지털 재설계의 개선 (Improving a Digital Redesign for Time-Varying Trackers)

서지정보

· 발행기관 : 제어·로봇·시스템학회
· 수록지 정보 : 제어.로봇.시스템학회 논문지 / 17권 / 4호 / 289 ~ 294페이지
· 저자명 : 송현석, 이호재, 김도완

초록

Digital redesign is yet another efficient tool to convert a pre-designed analog controller into a sampled-data one to maintain the analog closed-loop performance in the sense of state matching. A rising difficulty in developing a digital redesign technique for trackers with time-varying references is the unavailability of a closed-form discrete-time model of a system, even if it is linear time-invariant. A way to resolve this is to approximate the time-varying reference as a piecewise constant one, which deteriorates the state matching performance. Another remedy may be to decrease a sampling period, which however could numerically destabilize the optimization-based digital redesign condition. In this paper, we develop a digital redesign condition for time-varying trackers by approximating the time-varying reference through a triangular hold and by introducing delta-operated discrete-time models. It is shown that the digitally redesigned sampled-data tracker recovers the performance of the pre-designed analog tracker under a fast sampling limit. Simulation results on the formation flying of satellites convincingly show the effectiveness of the development.

영어초록

Digital redesign is yet another efficient tool to convert a pre-designed analog controller into a sampled-data one to maintain the analog closed-loop performance in the sense of state matching. A rising difficulty in developing a digital redesign technique for trackers with time-varying references is the unavailability of a closed-form discrete-time model of a system, even if it is linear time-invariant. A way to resolve this is to approximate the time-varying reference as a piecewise constant one, which deteriorates the state matching performance. Another remedy may be to decrease a sampling period, which however could numerically destabilize the optimization-based digital redesign condition. In this paper, we develop a digital redesign condition for time-varying trackers by approximating the time-varying reference through a triangular hold and by introducing delta-operated discrete-time models. It is shown that the digitally redesigned sampled-data tracker recovers the performance of the pre-designed analog tracker under a fast sampling limit. Simulation results on the formation flying of satellites convincingly show the effectiveness of the development.

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