• Journal of Advanced Navigation Technology
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• v.5 no.1
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• pp.19-25
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• 2001

In this study an analysis on flight characteristics and flight control methods for a wing in ground effect vehicle is made. In order to closely view its nonlinearity a few limit cycles are examined and related to the characteristics of the linearized systems. Several flight control methods are compared for the cruise mode with initial height error and command tracking mode of ascending, cruise, and descending. In comparison performance and the implementation aspects are examined. For the possible control inputs, combinations of elevator, thrust, and flap are considered and LQR-based output command tracking scheme is applied in the control system design.

• Journal of IKEEE
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• v.22 no.1
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• pp.110-120
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• 2018

In this paper, we apply the input-output linearization technique to tracking the follow-up trajectory r(t) in the ball-beam system. There exist system disturbance and various uncertainties, the conventional input-output linearization based control yields some noticeable errors in tracking performance. As a result, a new robust control technique for the uncertainty of the system was proposed and its improved performance verified through simulation and experimental results. So, more realistic system model is obtained with unmatched uncertainties and disturbance. Then, in order to improve the control performance, a new optimal bang-bang control input is additionally added.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.176-184
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• 2000

TDC(Time Delay Control) deals with the time-varying system parameters, unknown dynamics and unexpected disturbances using time delay. TDC can be divided into two separate parts: an auxiliary controller and a servo controller. The two controllers can be designed independently. The auxiliary controller is used to reduce sensitivity to parameter variations, nonlinear effects, and other disturbances. The servo controller is to reduce the error between the desired command and output. We propose the model-following time delay controller with modified error feedback controller. This was applied to follow the desired reference model for the uncertain time-varying overhead crane. The model generates the damped-out swinging motion trajectory to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. The control performance was evaluated through simulations. The theoretical results indicate that this control method shows excellent performance to an overhead crane with the uncertain time-varying parameters.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.3
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• pp.585-594
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• 2000

The exact path following of an autonomous mobile robot in a factory and an unreliable environment has many disadvantages in case of a classical control algorithm. In this paper, a neural network control approach based on an error back propagation algorithm is proposed for controlling a mobile robot to follow a line installed on the road. Since not only the three recognized informations from three sensors attached on a mobile robot but also the ten detailed informations in non recognition area are learned with input patterns, a mobile robot moves smoothly an installed line in spite of non perception space. The mobile robot has an effect of error minimization with a short time till a destination. To test an effectiveness of the proposed controller, the two motor velocity changes which is affected from a moving angle change of a mobile robot are simulated with computer.

• Journal of Korean Society of Transportation
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• v.22 no.2 s.73
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• pp.65-76
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• 2004

교통망설계문제란, 교통시스템을 최적상태로 만들기 위한 최적의 설계변수를 결정하는 문제이다. 대표적인 교통망설계문제로는 도로를 신설하거나 확장하는 문제가 있으며, 이외에 교통신호시간의 결정, 교통정보의 제공, 혼잡통행료 부과, 새로운 교통수단의 도입 등 여러 교통정책분야가 교통망설계문제에 포함된다고 볼 수 있다. 일반적으로 교통망설계문제는 bi-level 구조로 구축되는데, 기존 대부분의 연구들은 상위문제와 하위문제를 서로 협력없이(Noncooperative) 자신들만의 목적을 최적화시키는 Cournot-Nash게임형태로 구성하여 풀고 있으나, 실제 교통분야에서 다루는 문제들은 리더(leader)와 추종자(follower)가 존재하는 Stackelberg게임에 가깝다고 할 수 있다. 기존 bi-level 문제들이 Cournot-Nash게임형태로 구성되어 풀고 있는 이유는 Stackelberg게임으로 구성할 경우 풀기가 어렵기 때문이다. 이런 측면에서 본 연구는 리더와 추종자가 존재하는 Stackelberg게임으로 교통망설계문제를 구성하며, 설계 변수값에 따른 통행자의 행태변화도 인지오차(perceived error)를 고려한 확률적 통행배정문제로 구성하여 좀더 현실적인 결과를 도출하도록 한다. 제시된 모형을 풀기 위하여 민감도분석(Sensitivity analysis)을 이용하며, 설계문제의 해를 구하는 알고리듬도 제시한다. 또한, 이 기법을 일반 도로교통망(general transportation road network)에 적용할 수 있도록 민감도(sensitivity) 유도과정을 자세히 기술하였다. 개발된 모형을 평가하기 위하여 2개의 예제 교통망을 대상으로 모형을 적용한 결과, 합리적인 값들을 도출하고 있음을 확인할 수 있었다.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.786-791
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• 2003

This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.5
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• pp.533-541
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• 2011

This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit with pressure valves. Varying switching frequency to pressure valves from 0.1 Hz to 5 Hz, parameters of a linear model were estimated optimally to predict dynamic characteristics of the antagonistic actuation. A model-base control scheme with estimated parameters was built for the precise trajectory tracking of the antagonistic structure and realized on a reconfigurable embedded control system, CompactRIO. Experimental results showed that the proposed model-based control scheme gave good performance in trajectory tracking comparing with a PD control scheme when square wave and sinusoidal wave were given as references to follow.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.12 no.3
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• pp.29-36
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• 1998

In this paper, We are proposed a design method of the digital PID controller based on the model following method which minimized the error integral of the step response between the control system and the reference model. And we are applied it by a speed control of the current type inverter induction motor. The dynamic characteristic of the system was expressed by the step response, and then the optimal parameter of the PID controller can be easily obtained by the matrix computation. The derived algorithm can be implemented through a simple and systematic design procedure. Finally, We have shown the result with a computer simulation by the present method which proposed the speed control system and stable operation and fairly transient performance. And then tt was found results by experimental process.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.3
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• pp.511-518
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• 2021

In order to obtain a good tracking performance of the motor, it is necessary to design a controller that can respond to a disturbance by including a disturbance observer. The disturbance observer of the motor is designed to estimate the load torque and the back electromotive voltage based on the first-order low-pass filter. A PI controller and an IP controller were designed to compare the correlation between the disturbance observer and the controller and to obtain improved control performance. To check the performance of the designed observer and the controller, it was applied to a 120 [W] class BLDC motor. As a result, overshoot is reduced, and it can be seen that the steady-state error converges to zero.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.3
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• pp.228-235
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• 2010

This paper deals with an autonomous flight controller design problem for a tilt-rotor aircraft in rotary-wing mode. The inner-loop algorithm is designed using the output-based approximate feedback linearization. The model error originated from the feedback linearization is cancelled within allowable tolerance by using single-hidden-layer neural network. According to Lyapunov direct stability theory, the adaptive update law is derived to run the neural network on-line, which is based on the linear observer dynamics. Moreover, the outer-loop algorithm is designed to track the trajectory generated from way-point guidance. Especially, heading and flight-path angle line-of-sight guidance are applied to the outer-loop to improve accuracy of the landing tracking performance. The 6-DOF nonlinear simulation shows that the overall performance of the flight control algorithm is satisfactory even though the collective input response shows instantaneous actuator saturation for a short time due to the lack of the neural network and the saturation protection logic in that loop.