• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.688-696
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• 2017

This paper presents an integrated roll-pitch-yaw autopilot using an equivalent based sliding mode control for skid-to-turn nonlinear time-varying missile system with lumped disturbances in its six-equations of motion. The considered missile model are developed to integrate the model uncertainties, external disturbances, and parameters perturbation as lumped disturbances. Moreover, it considers the coupling effect between channels, the variation of missile velocity and parameters, and the aerodynamics nonlinearity. The presented approach is employed to achieve a good tracking performance with robustness in all missile channels simultaneously during the entire flight envelope without demand of accurate modeling or output derivative to avoid the noise existence in the real missile system. The proposed autopilot consisting of a two-loop structure, controls pitch and yaw accelerations, and stabilizes the roll angle simultaneously. The Closed loop stability is studied. Numerical simulation is provided to evaluate performance of the suggested autopilot and to compare it with an existing autopilot in the literature concerning the robustness against the lumped disturbances, and the aforesaid considerations. Finally, the proposed autopilot is integrated in a six degree of freedom flight simulation model to evaluate it with several target scenarios, and the results are shown.

• 한국기계가공학회지
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• 제20권11호
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• pp.43-51
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• 2021

A robust tracking controller design was developed for a rotary motion control system. The friction force versus the angular velocity was measured and modeled as a combination of linear and nonlinear components. By adding a model-based friction compensator to a nominal proportional-integral-derivative controller, it was possible to build a simulated control system model that agreed well with the experimental results. A zero-phase error tracking controller was selected as the feedforward tracking controller and implemented based on the estimated closed-loop transfer function. To provide robustness against external disturbances and modeling uncertainties, a disturbance observer was added in the position feedback loop. The performance improvement of the overall tracking controller structure was verified through simulations and experiments.

• 전자공학회논문지S
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• 제34S권3호
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• pp.46-54
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• 1997

In this paper, we psropose the feedback linearization technique for a nonlinear system using genetic algorithms (GAs) and fuzzy logic system. The proposed control scheme approximates the nonlinear term of a nonlinear system using the fuzzy logic system and computes the control input for cancelling the nonlinear term. Then in the fuzzy logic system, the number and shape of membership function of the premise aprt will be tuned to minimize the control error boundary using GAs. And the parameters of the consequence of fuzzy rule will be tuned by the adaptive laws based on lyapunov stability theory in order to guarantee the closed loop stability of control system. The evolution of fuzzy logic system is processed during the on-line adaptive control. The effectiveness of proposed method will be demonstrated by computer simulation of simple nonlinear sytem.

• 대한기계학회논문집
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• 제19권9호
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• pp.2399-2411
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• 1995

Crane operation for transporting heavy loads inherently causes swinging motion at the loads due to crane's acceleration or deceleration. This motion not only lowers the handling safety but also slows down the handling process. To complement such a problem, Korea Atomic Energy Research Institute(KAERI) has designed several anti-swing controllers using open loop and closed loop approaches. They are namely a pre-programmed feedback controller and a fuzzy controller. These controllers are implemented on a 1-ton crane system at KAERI and their control performances are compared. Test operations show that the new controllers are superior to that of conventional cranes in terms of robustness to the disturbances and adaptation capability to the change of rope length.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• International Journal of Control, Automation, and Systems
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• 제3권4호
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• pp.612-619
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• 2005

A robust adaptive speed sensorless induction motor direct torque control (DTC) using a neural network (NN) is presented in this paper. The inherent lumped uncertainties of the induction motor DTC system such as parametric uncertainty, external load disturbance and unmodeled dynamics are approximated by the NN. An additional robust control term is introduced to compensate for the reconstruction error. A control law and adaptive laws for the weights in the NN, as well as the bounding constant of the lumped uncertainties are established so that the whole closed-loop system is stable in the sense of Lyapunov. The effect of the speed estimation error is analyzed, and the stability proof of the control system is also proved. Experimental results as well as computer simulations are presented to show the validity and efficiency of the proposed system.

• 천문학회보
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• 제37권2호
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• pp.219.2-219.2
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• 2012

We are developing Adaptive Optics (AO) system for 24 inch telescope at Seoul National University Observatory. It consists of the tip-tilt correction system and the residual wavefront error correction system with a deformable mirror and a wavefront sensor. We present the construction and performance measurements of the tip-tilt correction system. The tip-tilt component is the single largest contributor to wavefront error, especially for small telescope. The tip-tilt correction system consists of a quadrant photodiode, a tip-tilt mirror and a feed back loop. The collimated He-Ne laser beam is used for input light source and is artificially disturbed by air turbulence generated by a heat gun. Most of the turbulence is of low frequency less than 20 Hz, but extends to a few hundreds Hz. It is found that the closed loop system using proportional-integral-derivative (PID) control successfully corrects tip-tilt error at a rate as high as 300~400 Hz.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.943-946
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• 1993

This paper presents design criteria of an overlapping decentralized controller by investigating the controllability and closed loop stability of the expanded system. To determine the criteria we classify the overlapping decentralized controller into an overlapping expanded controller and a contractible controller. It is shown that conditions of system expansion to design these controllers are differently used. The overlapping expanded controller needs the aggregation conditions due to the importance of a structure of the expanded system. The contractible controller which intends to use in the original space needs the restriction because of stability of the original system.

• Earthquakes and Structures
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• 제3권5호
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• pp.749-766
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• 2012

Structural control through integration of passive damping devices within the building structure has been increasingly implemented internationally in the last years and has proven to be a most promising strategy for earthquake safety. In the present paper an alternative configuration of an innovative energy dissipation mechanism that consists of slender tension only bracing members with closed loop and a hysteretic damper is investigated in its dynamic behavior. The implementation of the adaptable dual control system, ADCS, in frame structures enables a dual function of the component members, leading to two practically uncoupled systems, i.e., the primary frame, responsible for the normal vertical and horizontal forces and the closed bracing-damper mechanism, for the earthquake forces and the necessary energy dissipation. Three representative international earthquake motions of differing frequency contents, duration and peak ground acceleration have been considered for the numerical verification of the effectiveness and properties of the SDOF systems with the proposed ADCS-configuration. The control mechanism may result in significant energy dissipation, when the geometrical and mechanical properties, i.e., stiffness and yield force of the integrated damper, are predefined. An optimum damper ratio, DR, defined as the ratio of the stiffness to the yield force of the hysteretic damper, is proposed to be used along with the stiffness factor of the damper's- to the primary frame's stiffness, in order for the control mechanism to achieve high energy dissipation and at the same time to prevent any increase of the system's maximum base shear and relative displacements. The results are summarized in a preliminary design methodology for ADCS.

• 제어로봇시스템학회논문지
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• 제7권3호
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• pp.193-197
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• 2001

This paper presents a design method of sliding model control (SMC) for single input linear systems with mismatched uncertainties. We define a virtual state based on the controllable canonical form of the nominal system. And we defined a sliding surface for the augmented system with a virtual state. This sliding surface makes it possible to use the SMC technique with various types of controllers. In this paper, we construct a controller that combines SMC with robust controller. We design a robust controller for the system with mismatched uncertainties using a form of linear matrix inequality(LMI). We make a virtual state from this robust control input and the states of the nominal system. And we design a sliding model controller that stabilizes the overall closed-loop system.