• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.2
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• pp.8-15
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• 2010

This paper proposes a robust high-gain observer design scheme for nonlinear systems and its stability is analyzed based on Lyapunov theory. It is assumed that their states are unmeasurable. The proposed high-gain observer has the integrator of the estimation error in dynamics. It improves the performance of high-gain observers and makes the proposed observer robust to noisy measurements, uncertainties and peaking phenomenon as well. Its stability is analyzed by the Lyapunov approach. In order to verify the effectiveness of the proposed scheme, it is applied to output feedback controllers and some comparative simulation result with the existed observer based output feedback controllers and state feedback controllers is given.

• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.4
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• pp.324-331
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• 2007

This paper studies new estimation method for state of charge (SOC) of the hybrid electric vehicle lithium battery using sliding mode observer. A simple R-C Lithium battery modeling technique is established and the errors caused by simple modeling was compensated by the sliding mode observer. The structure of the sliding mode observer is simple, but it shows robust control property against modeling errors and uncertainties. The performance of the system has been verified by the UUDS test. The test results of the proposed observer system shows robust tracking performance under real driving environments.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.582-590
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• 2007

Nonlinear adaptive control of overhead cranes is investigated for anti-sway trajectory tracking with high-speed hoisting motion. The sway dynamics of two dimensional underactuated overhead cranes is heavily coupled with the trolley acceleration, hoisting rope length, and the hoisting velocity which is an obstacle in the design of decoupling control based anti-sway trajectory tracking control law To cope with this obstacle. we propose a fuzzy nonlinear adaptive anti-sway trajectory tracking control law guaranteeing the uniform ultimate boundedness of the sway dynamics even in the presence of uncertainties in such a way that it cancels the effect of the trolley acceleration and hoisting velocity on the sway dynamics. In particular. system uncertainties, including system parameter uncertainty unmodelled dynamics, and external disturbances, are compensated in an adaptive manner by utilizing fuzzy uncertainty observers. Accordingly, the ultimate bound of the tracking errors and the sway angle decrease to zero when the fuzzy approximation errors decrease to zero. Finally, numerical simulations are performed to confirm the effectiveness of the proposed scheme.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1753_1754
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• 2009

본 논문은 한국 철도기술연구원에서 바이모달 트램의 안내/추진/도킹 제어기 검증을 위해 제작중인 LabVIEW, PXI기반의 실시간 시뮬레이터를 위한 시뮬레이션 프로그램 개발에 대한 내용을 다루었다. 시뮬레이터 프로그램은 바이모달 트램의 비선형 동적모델, 위치추정필터, 안내/추진/도킹 제어기로 구성되며, 비선형 동적모델에는 실제 차량에서 제어기나 관측기에 사용되는 각종 측정값들을 모사하기 위한 센서 계측시스템이 포함된다.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.1819-1830
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• 1991

The problems associated with noise/energy source identification using multiple input/single output model in linear systems are investigated. Partial coherence function is formulated for the model introducing a virtual force and extraneous noises into the conventional two input/single output system. The analytical results show that the partial coherence function in two input/single output linear system is the function of noise/signal ratios when multiple inputs are mutually coherent and extraneous noises exist. Parametric studies for ordinary and partial coherence functions are carried out to demonstrate the effects of noise/signal ratios for these functions.

• Proceedings of the Korea Water Resources Association Conference
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• 2008.05a
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• pp.1027-1031
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• 2008

본 연구는 한반도 영역을 대상으로 2001년 7, 8월과 2002년 6월로 홍수기를 대상으로 RDAPS 모형, AWS, 상층기상관측(upper-air sounding)의 자료를 이용하였다. 또한 수치예보자료를 범주적 예측확률로 변환하고 인공신경망기법(ANN)을 이용하여 강수발생확률의 예측정확성을 향상시키는데 있다. 신경망의 예측인자로 사용된 대기변수는 500/ 750/ 1000hpa에서의 지위고도, 500-1000hpa에서의 층후(thickness), 500hpa에서의 X와 Y의 바람성분, 750hpa에서의 X와 Y의 바람성분, 표면풍속, 500/ 750hpa/ 표면에서의 온도, 평균해면기압, 3시간 누적 강수, AWS관측소에서 관측된 RDAPS모형 실행전의 6시간과 12시간동안의 누적강수, 가강수량, 상대습도이며, 예측변수로는 강수발생확률로 선택하였다. 강우는 다양한 대기변수들의 비선형 조합으로 발생되기 때문에 예측인자와 예측변수 사이의 복잡한 비선형성을 고려하는데 유용한 인공신경망을 사용하였다. 신경망의 구조는 전방향 다층퍼셉트론으로 구성하였으며 역전파알고리즘을 학습방법으로 사용하였다. 강수예측성과의 질을 평가하기 위해서 $2{\times}2$ 분할표를 이용하여 Hit rate, Threat score, Probability of detection, Kuipers Skill Score를 사용하였으며, 신경망 학습후의 강수발생확률은 학습전의 강수발생확률에 비하여 한반도영역에서 평균적으로 Kuipers Skill Score가 0.2231에서 0.4293로 92.39% 상승하였다.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.514-516
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• 2005

압전 구동기(Piezo actuator)는 수 나노미터 수준의 위치정밀도와 고분해능을 가지고 있으나 비선형 특성인 히스테리시스(Hysteresis)는 정상상태에서 위치 오차를 발생하는 주요 원인이 된다. 현재까지 히스테리시스를 보상하기 위해 피 프 포워드 제어 방법, Pl 제어 방법, $H_{\infty}$제어 방법 등이 연구되어 왔지만 저주파 대역의 외란(disturbance)까지 고려하여 시스 템을 주파수 영역에서 설계, 분석하는 방법에 대한 연구는 미흡하였다. 본 논문은 압전 구동기의 위치 제어를 위한 제어기의 설계와 이를 주파수 영역에서 분석하는 내용을 다룬다. 제어기의 설계는 히스테리시스를 보상하기 위해 극점 배치 방법과 외란 관측기(Disturbance observer)를 기본으로 하였으며 적분제어를 적용하여 시스템 민감도(sensitivity)를 개선하였다. 시뮬레이션과 실험을 통하여 설계한 제어기가 히스데리시스에 대한 보상과 민감도의 개선에 효율적임을 검증하였다.

• Journal of the Institute of Convergence Signal Processing
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• v.8 no.3
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• pp.217-221
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• 2007

This paper deals with the robust nonlinear controller design using output feedback for a Chua circuit which is one of the well-known nonlinear models. First, an exosystem for reference signal tracking is defined, and error dynamic equations are derived from the differentiation of the output tracking error equation. The normal sliding surface is modified using the integral type servo compensator. The parameters in the equations of the modified sliding surface and servo compensator are determined by using the Hurwitz condition of stability. Especially the error signals can't be obtained directly from the output because all parameters are assumed unknown. So instead, a high gain observer is designed. From this estimated error signals, a stabilizing controller is designed. Simulation is done for demonstrating the effectiveness of the suggested algorithm.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.1
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• pp.190-196
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• 2013

Curved integral imaging is a simple method to display 3D images in space using lens array and provides wide viewing angle. In this paper, we propose a nonlinear 3D correlator based on the direct pixel-mapping (DPM) method in order to improve the recognition performance of 3D target object in curving-effective integral imaging. With this scheme, the elemental image array (EIA) originally picked up from a partially occluded 3-D target object can be converted into a resolution enhanced new EIA by using DPM method. Then, through nonlinear cross-correlations between the reconstructed reference and the target plane images, the improved pattern recognition can be performed from the correlation outputs. To show the feasibility of the proposed method, some preliminary experiments are carried out and results are presented by comparing the conventional method.