Browsing by Author "CHEN, YP"

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DESIGN OF SINUSOIDAL OSCILLATORS USING THE THEORY OF VARIABLE STRUCTURE SYSTEMS
(1992-01-01)
CHEN, YP
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CHENG, MH
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交大名義發表
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電控工程研究所
;
National Chiao Tung University
This paper presents a new simple scheme to design sinusoidal oscillators by using the theory of variable structure systems. The desired oscillation frequency and amplitude can be independently determined. Significantly, the total system of the sinusoidal oscillator is easily completed by choosing two linear second-order subsystems with some appropriate switching conditions and the required circuit components for the developed system are all commercially available.
FLIGHT CONTROLLER-DESIGN VIA COMBINED SLIDING - MODE AND LINEAR STATE-FEEDBACK TECHNIQUE
(1993)
CHEN, YP
;
YU, JR
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電控工程研究所
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Institute of Electrical and Control Engineering
SLIDING-MODE CONTROL OF MULTILINK FLEXIBLE MANIPULATORS
(1991-08-01)
CHEN, YP
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YEUNG, KS
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電控工程研究所
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Institute of Electrical and Control Engineering
This paper is a continuation of the research efforts reported recently in Yeung and Chen (1989) and Yeung and Chen (1991). This present work presents an extension of the sliding-mode control design method to multi-link flexible manipulators. There are two main steps in the design procedure, linearization and stabilization. In the linearization step, the sliding-mode technique is used to replace the rigid part of the dynamic equations by a set of linear equations which are determined by the switching surfaces. In the stabilization step, conventional PD/PID compensations are adopted to stabilize the linearized time-invariant system in the following three cases: (1) first-link ramp-tracking of the manipulator on a horizontal plane, (2) first-link parabola-tracking of the manipulator on a horizontal plane, and (3) first link regulation of the manipulator in a vertical plane. The developed sliding-mode controller is simple and requires no inertia matrix inversion, no modal estimation and no payload forecast. Simulation studies have been conducted to demonstrate the robustness of the controller against both input disturbances and payload variations.
SLIDING-MODE CONTROLLER-DESIGN FOR SPACECRAFT ATTITUDE TRACKING MANEUVERS
(1993-10-01)
CHEN, YP
;
LO, SC
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交大名義發表
;
電控工程研究所
;
National Chiao Tung University
This paper presents a robust sliding-mode control law to deal with the spacecraft attitude tracking problems. Two important natural properties related to the spacecraft model of motion are shown and then by using these properties and the second method of Lyapunov theory, the system stability in the sliding mode can be easily achieved. The success of the sliding-mode controller and the robustness to uncertainties are illustrated by an example of multiaxial attitude tracking maneuvers.
SLIDING-MODE CONTROLLER-DESIGN FOR SPACECRAFT ATTITUDE TRACKING MANEUVERS
(1993-01-01)
CHEN, YP
;
LO, SC
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電控工程研究所
;
Institute of Electrical and Control Engineering
SMOOTH SLIDING-MODE CONTROL FOR SPACECRAFT ATTITUDE TRACKING MANEUVERS
(1995-11-01)
LO, SC
;
CHEN, YP
;
交大名義發表
;
電控工程研究所
;
National Chiao Tung University
A sliding-mode control (SMC) algorithm is derived and applied to quaternion-based spacecraft attitude tracking maneuvers. Based on some interesting properties related to the spacecraft model, a class of linear sliding manifolds is selected. Significantly, a Lyapunov function is introduced in the SMC design, which can avoid the inverse of the inertia matrix and thus simplify the controller design. To improve the transient response before reaching the sliding manifold, the smoothing model-reference sliding-mode control (SMRSMC) is further developed, which requires well-estimated initial conditions. Simulation results are included to demonstrate the usefulness of the SMRSMC method.
Spacecraft attitude tracking control
(1995)
LO, SC
;
CHEN, YP
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電控工程研究所
;
Institute of Electrical and Control Engineering
SYNTHESIS AND CHARACTERIZATION OF N=CR(OTBU)3
(1995-04-02)
CHIU, HT
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CHEN, YP
;
LEE, GH
;
PENG, SM
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應用化學系