• 대한전기학회논문지:시스템및제어부문D
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• 제55권3호
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• pp.91-97
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• 2006

A major difficulty with the practical application of the multiple observer based IFDI schemes is the computational burden of the residual generation. In this paper, a new residual generator that employs function observers is proposed to reduce the computational burden, and the design methods of the IFDIS, equipped with the residual generator, are presented. The function observers employed in the residual generator can be considered as a dual of the unknown input (function) observer And it can be designed to estimate the measurement errors that are due to sensor faults. The error estimates are further processed to generate the residuals by which reliable fault detection/isolation result car be obtained. The proposed scheme is more useful, in real-time application, than any other multiple state observer based IFDISs. It can be effectively applied to fault tolerant control because the failure effects can be compensated by the use of the estimates of measurement errors. The proposed IFDI scheme is applied to an inverted pendulum control system for the IFDI of failed sensor and fault compensation.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.