• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.51-52
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• 2007

이 논문에서는 다중입출력 선형 시스템에 대한 외란 관측기설계 방법을 제안하고자 한다. 제안된 방법을 특이 섭동(Singular Perturbation) 이론을 사용하여 해석하며, 그 결과 Q 필터의 상수가 매우 작다면 외란 제거와 시스템 불확실성에 대한 보상을 통하여 실제 시스템을 공칭 시스템으로 근사화 시켜주는 것을 볼 수 있다.

• Journal of KSNVE
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• v.6 no.5
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• pp.567-574
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• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.639-648
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• 2002

The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.20-28
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• 2012

In spite of the difficulties and uncertain characteristic of cable driven method, surgical robot instrument has adopted it as driving mechanism for various reasons. To overcome the problem of cable system, previous research applied SMCSPO (sliding mode control with sliding perturbation observer) algorithm as robust controller to control the instrument and found that the value of SPO (sliding perturbation observer) followed force disturbance, reaction force loaded on the tip very similarly. Thus, this paper confirms that the perturbation observer is sufficient estimator which finds out the mount of loaded force on the surgical robot instrument. To prove the proposition, simulation using the similar model with an actual instrument and experimental evaluation are performed. The results show that it is possible to substitute SPO for sensors to measure the reaction force. This estimated reaction force will be used to realize haptic function by sending the reaction force to a master device for a surgeon. The results will contribute to create surgical benefit such as shortening the practice time of a surgeon and giving haptic information to surgeon by using it as haptic signal to protect an organ by making force boundary.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.2 s.179
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• pp.43-50
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• 2006

Recently, with rapid development of semiconductor and flat panel display, the manufacturing equipments are required to have large travel range, high productivity, and high accuracy. In this paper, an ultra precision decoupled dual servo (DDS) system is proposed to meet these requirements. And a control scheme for the DDS is studied. The proposed DDS consists of a $XY{\Theta}$ fine stage for handling work-pieces precisely and a XY coarse stage for large travel range. The fine stage consists of four voice coil motors (VCM) and air bearing guides. The coarse stage consists of linear motors and air bearing guides. The DDS is mechanically decoupled between coarse stage and fine stage. Therefore, both stages must be controlled independently and the performance of the DDS is mainly determined by the fine stage. For high performance tracking, the controller of fine stage consists of time delay control (TDC) and perturbation observer while the controller of coarse stage is TDC alone. With these individual controllers, two kinds of dual-servo control strategies are suggested: master-slave type and parallel type. By simulations and experiments, the performances of two dual-servo control strategies are compared.

• Bulletin of the Korean Space Science Society
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• 2010.04a
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• pp.28.2-28.2
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• 2010

영상레이더 위성으로부터 획득된 SAR 영상의 상대적/절대적 방사(radiometric) 정밀도를 만족시키기 위해서는 궤도상에서 검보정을 수행하여야 한다. 일반적으로 상대 방사 정밀도의 보정을 위해서는 아마존 일대와 같이 일정한 지표 반사도를 지니는 넓은 지역을 촬영함으로써, 지상에서 모델링된 안테나 패턴의 이상 유무를 검증한다. 절대 방사 정밀도를 결정하기 위해서는 보정계수(calibration constant)를 구해야 하는데, 이를 위해서 RCS(radar cross section) 값이 기 알려져 있는 지상의 CR(corner reflector)를 관측해야 한다. 대부분의 SAR 위성의 경우, 각 입사각별로 여러 개의 빔(beam)이 독립적으로 운용되고, 위성의 경로가 각 pass 사이 거의 일정한 간격을 가지기 때문에, 지상의 CR들에 대한 빔의 접근성이 상당히 제약을 많이 받게 된다. 즉, 개별 빔이 촬영할 수 있는 CR의 개수 및 동일 CR에 대한 촬영 빈번도가 많이 작을 수 있다는 것을 의미한다. 특히, CR이 빔폭의 중심에서 관측되어야 하는 요구사항이 추가로 반영될 경우 그 빈도수는 더욱더 영향을 받게된다. 이 연구에서는 고도 550 km, 28일의 지상반복주기(repeat ground track)를 가지는 여명 궤도(dawn-dusk orbit)를 가정하고, 각 빔별로 그 빔에 할당된 하나의 CR만을 촬영해야 된다는 조건하에, 빔 접근성의 요구사항을 최대로 만족시킬 수 있는 CR의 좌표들을 구하였다. 동시에, J2항만을 고려한 이상적 28일 지상반복궤도를 적용한 경우와 모든 중력섭동항을 적용한 최적궤도를 적용한 경우를 비교하여, 실질적 검보정 일정을 수립하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.6
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• pp.477-483
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• 2005

This article describes a robust state estimation method which enables to produce reliable estimates in spite of heavy perturbation including plant uncertainty and external disturbances. The main idea is to combine the standard state estimator with the perturbation observer in the estimator frame. The perturbation observer reflects equivalent quantity of plant uncertainty and external disturbances during the estimation process so that the state estimator dynamics gets as close as possible to the real plant dynamics. The robust state estimator proposed in this paper is given in a recursive discrete-time form which is very useful fur implementation purpose. In terms of the error dynamics derived for the robust state estimator, we discuss the stability issue and noise sensitivity. The effectiveness and practicality of the robust state estimator are verified through numerical examples and experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.679-685
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• 2016

This paper addresses an observer-based output-feedback sampled-data controller design problem for nonlinear systems in Takagi-Sugeno (T-S) form including singular perturbations. The design condition is represented in terms of linear matrix inequalities. The separation principle is also investigated.

• Journal of Astronomy and Space Sciences
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• v.23 no.1
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• pp.29-38
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• 2006

This paper presents an Image Motion Compensation (IMC) algorithm for the Korea's Communication, Ocean, and Meteorological Satellite (COMS)-1. An IMC algorithm is a priority component of image registration in Image Navigation and Registration (INR) system to locate and register radiometric image data. Due to various perturbations, a satellite has orbit and attitude errors with respect to a reference motion. These errors cause depointing of the imager aiming direction, and in consequence cause image distortions. To correct the depointing of the imager aiming direction, a compensation algorithm is designed by adapting different equations from those used for the GOES satellites. The capability of the algorithm is compared with that of existing algorithm applied to the GOES's INR system. The algorithm developed in this paper improves pointing accuracy by 40%, and efficiently compensates the depointings of the imager aiming direction.

• Journal of the Korean Magnetics Society
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• v.13 no.1
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• pp.1-5
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• 2003

Magnetic and structural properties of $(CoFe_2O_4)_{1-x}(Y_3Fe_5O_{12})_x$ powders (0 $\leq$ x $\leq$ 1) grown by a conventional ceramic method were investigated using X-ray diffractormeter (XRD), scanning electron microscopy (SEM), Mossbauer spectroscopy and vibrating sample magnetometer (VSM). The XRD results for the powders annealed at 120$0^{\circ}C$ indicated that no other peak was observed except for the ones from cobalt ferrite and the garnet powder. SEM micrographs indicated that cobalt ferrite and garnet powders were aggregated and completely formed together. It was hard to identify which part of the powders was the garnet or the cobalt ferrite. Mossbauer spectra for powders grown separately and mixed mechanically consisted of sub-spectra of cobalt ferrite and garnet, however, powders annealed together had an extra sub-spectrum, which was related with the interaction between iron ions at the grain surfaces of cobalt ferrite and the garnet: cobalt ferrite and garnet particles were located very closely. The value of the saturation magnetization measured by a VSM as a function of composition ratio agreed very well with the ones based on the theoretical calculation.