• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.67 no.7
• /
• pp.871-877
• /
• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.49 no.5
• /
• pp.389-397
• /
• 2021

The control characteristics after the failure of the control moment gyros, the actuators for satellite attitude control, were analyzed. In particular, the situation where one out of four failed was considered. For the most commonly used pyramids and box-90 structures, the singularities and singular surfaces after failure were analyzed and compared. Dynamic equations for the process of reducing the wheel speed after the failure were derived. The process of stabilizing the angular velocity of a satellite while absorbing the momentum of the faulty module by the three normal modules was analyzed. For singular shapes, the remaining CMGs may be locked or excessively shake. The authors proposed that it can be prevented by rearranging the gimbal angles.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.415-417
• /
• 2005

This paper proposes tracking control method using pseudo-backstepping control for wheeled mobile robots with nonholonomic constraints. First, the pseudo commands for forward linear velocity and angular velocity are chosen based on the kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and angular velocity follow the pseudo commands. Both semi-global practical posture(position and heading direction angle) stabilization and trajectory tracking are achieved for reference trajectories such as straight line and sinusoidal curve. The stability and performance analysed and numerical simulations are performed to confirm the effectiveness of the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.367-370
• /
• 1991

There are many kinds of drift source in angular velocity feedback stabilization system. We discussed and analyzed the source of drift, and suggest the drift compensation method for null drift system. In this paper, the performance of drift compensators is tested and proved by real 2 axis mirror stabilization system and computer simulation.

• Korean Journal of Applied Biomechanics
• /
• v.32 no.3
• /
• pp.103-110
• /
• 2022

Objective: The aim of this study was to investigate effect of core stabilization exercises on the erector spinae contractile properties and trunk isokinetic muscle function of middle age with low physical activity and sedentary lifestyle. Method: Twenty (female: n=10, male: n=10) middle-age subjects (age: 37.25 ± 6.08 years, height: 168.01 ± 6.84 cm, weight: 71.37 ± 11.75 kg) participated in this study. Tensiomyography was measured on the erector spinae, and the isokinetic trunk muscle function test was measured at an angular velocity of 60 °/s and 90 °/s. All subjects performed the core stabilization exercises for 60 min per day, 3 times a week, for 7 weeks. A paired t-test was performed with a significance level of 0.05. Results: Tensiomyography of the erector spinae revealed a significant post-exercise increase in the maximum radial displacement (p < .05) and velocity of contraction (p < .05), however, there wasn't a significant post-exercise change in the contraction time. Additionally, the isokinetic muscle function test of the trunk revealed a significant post-exercise increase in trunk extensor relative strength (p < .05) and strength ratio (p < .05). Conclusion: Our results indicated that core stabilization exercises reduced erector spinae muscle stiffness, increased the velocity of erector spinae contraction. Additionally, data showed the improvement in the trunk extensor strength help induce a more balanced development in trunk muscle.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.102-102
• /
• 2000

In this paper, attitude control laws are proposed for an underactuated spacecraft. The stabilization problem of the complete system including the kinematics as well as the dynamics of the spacecraft is addressed. The quaternion parameterization is used. The key idea is that the angular velocity of a uncontrolled axis is first regulated and then, the other states are regulated. Based on numerical simulations, it is conjectured that the closed-loop nonlinear system of a spacecraft with the proposed control laws is globally asymptotically stable. The control law for the stabilization problem around the origin as well as the command following problem are proposed. The numerical examples indicate that the stabilization of an underactuated asymmetric spacecraft can be achieved successfully.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.56.5-56
• /
• 2001

In the three axis control of satellite by using reaction wheel and gyro, a reaction wheel produces the control torque by the wheel speed or momentum, and a gyro carries out measuring of the attitude angle and the attitude angular velocity In this study, dynamic modelling of the Low Earth Orbit (LEO) is consisted of the one from the rotational motion of the satellite with the basic rigid body and a flexible body model, and the gyro in addition to the reaction wheel model. The results obtained by the robust controller are compared with those of the PI (Proportional and Integration) controller which is commonly used for the stabilizing satellite.

• Proceedings of the KIEE Conference
• /
• 1996.11a
• /
• pp.88-90
• /
• 1996

In this paper center manifold theory is reviewed and its application to the control of bifurcations is explored. When applying the theory to a sample power system, we study the stabilization of bifurcation points using controls depending only on the rotor angular velocity of a generator. Under such a control it is shown that the system is not locally stabilizable when control is applied through mechanical power, and the system is locally stabilizable when the control is applied to the capacitor compensator.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.3
• /
• pp.268-272
• /
• 2007

These days many scientists make studies of feedback control system for stability on non-linear state and for the maneuver of flying objects. These feedback control systems have to satisfy trajectory condition and angular conditions, that is to say, controllability and stability simultaneously to achieve mission. In this paper, a design methods using model based control system which consists of spiral predictive model, Q-function included into generalized-work function is shown. It is made a clear that the proposed algorithm using SPM maneuvers for controllability and stability at the same time is successful in attaining our purpose. The feature of the proposed algorithm is illustrated by simulation results. As a conclusion, the proposed algorithm is useful for the control of moving objects.

• Journal of Power Electronics
• /
• v.11 no.5
• /
• pp.743-750
• /
• 2011

This article deals with the sensor-less control of a DC Motor via a SEPIC Converter-Full Bridge combination powered through solar panels. We simultaneously regulate, both, the output voltage of the SEPIC-converter to a value larger than the solar panel output voltage, and the shaft angular velocity, in any of the turning senses, so that it tracks a pre-specified constant reference. The main result of our proposed control scheme is an efficient linear controller obtained via Lyapunov. This controller is based on measurements of the converter currents and voltages, and the DC motor armature current. The control law is derived using an exact stabilization error dynamics model, from which a static linear passive feedback control law is derived. All values of the constant references are parameterized in terms of the equilibrium point of the multivariable system: the SEPIC converter desired output voltage, the solar panel output voltage at its Maximun Power Point (MPP), and the DC motor desired constant angular velocity. The switched control realization of the designed average continuous feedback control law is accomplished by means of a, discrete-valued, Pulse Width Modulation (PWM). Experimental results are presented demonstrating the viability of our proposal.