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Controller Design Based on a Synchronous Error Compensator for Wheeled Cross-coupled Systems

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  • Intelligent Control and Applications
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Abstract

This study proposes a method for operating wheeled cross-coupled systems. Wheeled cross-coupled systems are more sensitive to disturbances than other cross-coupled systems. When the slip phenomenon occurs in wheels, it causes synchronous errors between axles, resulting in differences in the controller outputs of the two axles. In the worst case, the two axles can end up competing. To solve this problem, this study introduces base controllers to each axle using a discrete-time variable structure control system with a decoupled disturbance compensator and an auxiliary controller, called a synchronous error compensator (SEC), to minimize synchronous errors arising from differences in the states of the two axles. Experiments are conducted on a verification system with a similar form of overhead hoist transfer (OHT) to demonstrate the effectiveness of the proposed method. Results reveal that the SEC generates control commands to make the control inputs (current command) and state variables (velocity feedback) of the two axles similar.

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Authors and Affiliations

  1. RSAutomation, 38, Jinwisandan-ro, Jinwi-myeon, Pyeontaek-si, Gyeonggi-do, Korea

    Yeon-Beom Choi & Sang-Hoon Lee

  2. Department of Electronic Engineering, Tech University of Korea, 237, Sangidaehak-ro, Siheung-si, Gyeonggi-do, Korea

    Doo-Hee Jung

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  1. Yeon-Beom Choi
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Correspondence to Doo-Hee Jung.

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The authors declare that there is no competing financial interest or personal relationship that could have appeared to influence the work reported in this paper.

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This work was supported by the MSIT(Ministry of Science and ICT), Korea, under the Grand Information Technology Research Center support program (IITP-2023-2020-0-01741) supervised by the IITP(Institute for Information & communications Technology Planning & Evaluation) and the Technology development Program(RS-2023-00266705) funded by the Ministry of SMEs and Startups(MSS, Korea).

Yeon-Beom Choi received his B.S. and M.S. degrees in electrical engineering from Tech University of Korea, in 2013 and 2016, respectively. He is currently working toward a Ph.D. degree with the Information and Communications, Tech University of Korea. Also, He is currently a servo drive engineer with RS Automation Company, Ltd., Korea. His research interests include nonlinear control theory to servo drive.

Sang-Hoon Lee received his B.S., M.S., and Ph.D. degrees in electrical and computer engineering from Seoul National University, Seoul, Korea in 1991, 1993, and 1997, respectively. He is currently a Research and Development Center Manager with RS Automation Company, Ltd., Korea. His research interests include nonlinear control theory, and its application to electric machines and factory automation.

Doo-Hee Jung received his B.S., M.S., and Ph.D. degrees in electrical and computer engineering from Seoul National University, in 1991, 1993, and 1998, respectively. His research interests include nonlinear control and embedded systems for various industrial applications.

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Choi, YB., Lee, SH. & Jung, DH. Controller Design Based on a Synchronous Error Compensator for Wheeled Cross-coupled Systems. Int. J. Control Autom. Syst. 22, 1728–1738 (2024). https://doi.org/10.1007/s12555-023-0687-x

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  • DOI: https://doi.org/10.1007/s12555-023-0687-x

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