• Smart Structures and Systems
• /
• 제13권3호
• /
• pp.435-451
• /
• 2014

In this paper, we investigate the vibration control of multimodal structures and present an efficient control law that requires less energy supply than active strategies. This strategy is called modal global semi-active control and is designed to work as effectively as the active control and consume less power which represents its major limitation. The proposed law is based on an energetic management of the optimal law such that the controller follows this latter only if there is sufficient energy which will be extracted directly from the system vibrations itself. The control algorithm is presented and validated for a cantilever beam structure subjected to external perturbations. Comparisons between the proposed law performances and those obtained by independent modal space control (IMSC) and semi-active control schemes are offered.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.44-47
• /
• 1996

Bang-bang control law provides the optimal solution for a minimum-time control problem, but ignores the intermediate path except for the initial and final points. In this paper, a near minimum-time suboptimal fuzzy logic controller is introduced that can control the intermediate path. A dynamic model for a system is established using the average dynamics method of linearization. System model is continuously updated over the control time periods. This makes it suitable for high speed or variable payload applications. Bang-bang control theory is modified and used to derive the preliminary control law. A fuzzy logic algorithm is then applied to adjust and find the best solution. The solution will provide the suboptimal minimum-time control law which can avoid obstacles in the workspace.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1428-1431
• /
• 1996

This paper proposes an anti-swing control law for a 2 degrees of freedom overhead crane. The dynamic model of a 2 degrees of freedom crane is highly nonlinear and coupled. The model is linearized and decoupled for each degree of freedom of the crane for small motions of the load about the vertical. Then a decoupled anti-swing control law is designed for each degree of freedom of the crane based on the linearized model. The control law consists of a position control loop and an swing angle control loop. The position loop,. is designed based on the loop shaping method and the swing angle loop is designed via the root locus method. Finally, the proposed anti-swing control law is implemented and evaluated on a 2 degrees of freedom prototype crane.

• International Journal of Aeronautical and Space Sciences
• /
• 제11권2호
• /
• pp.87-97
• /
• 2010

A fault tolerant satellite attitude control scheme with a modified iterative learning law is proposed for dealing with actuator faults. The actuator fault is modeled to reflect the degradation of actuation effectiveness, and the solar array-induced disturbance is considered as an external disturbance. To estimate the magnitudes of the actuator fault and the external disturbance, a modified iterative learning law using only the information associated with the state error is applied. Stability analysis is performed to obtain the gain matrices of the modified iterative learning law using the Lyapunov theorem. The proposed fault tolerant control scheme is applied to the rest-to-rest maneuver of a large satellite system, and numerical simulations are performed to verify the performance of the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.1355-1360
• /
• 1990

This paper describes the application of the recently developed feedback linearization technique to the design of a new command to line-of-sight (CLOS) guidance law for skid-to-turn (STT) missiles. The key idea lies in converting the three dimensional CLOS guidance problem to the tracking problem of a time-varying nonlinear system. Then, using a feeedback linearizing approach to tracking in nonlinear systems, we design a three dimensional CLOS guidance law that can ensure zero miss distance for a randomly maneuvering target. Our result may shed new light on the role of the feedforward acceleration terms used in the earlier CLOS guidance laws. Furthermore, we show that the new CLOS guidance law can be computationally simplified without performance degradation. This is made possible by dropping out the terms in the new CLOS guidance law, which obey the well-known matching condition.

• 전기학회논문지
• /
• 제56권2호
• /
• pp.383-388
• /
• 2007

This paper considers a low-order dynamic output feedback controller design problem. Since the proposed control law inherently has a low-pass filter property, it can alleviate the mal-effects of the sensor noise without additional filter designs. Frequency domain analysis shows the characteristics of the proposed control law against measurement noise. The effectiveness of the proposed control law is illustrated by numerical simulations with a rotary inverted pendulum and a convey-crane. Using only one integrator the proposed control law has the advantage to the stabilization problem with sensor noise as well as it can successfully replace the measurements of derivative terms in a state feedback control law.

• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2017년도 춘계 학술논문 발표대회
• /
• pp.97-98
• /
• 2017

These days the buildings are getting higher, bigger, and in a deep. According to that, it was the Large-Scale casuality by smoke from Daeyeongak Hotel fire in 1971 to Uijeongbu apartment fire in 2015, and the law of smoke control has consistently changed. but the analysis for improving the law isn't working. Therefore on this study, it conducts the analysis of historical comparative about smoke control and it will present the basic data for improving the law of smoke control and in-depth analysis.

• 제어로봇시스템학회논문지
• /
• 제9권6호
• /
• pp.478-488
• /
• 2003

A guidance scheme that is suitable for controlling the aircraft flight path is proposed. The concept of miss distance which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the aircraft's trajectory-tracking guidance law. Guidance commands are given in terms of speed and flight path angles, but they perfectly reflect any position and velocity errors between real aircraft trajectory and reference one. The proposed guidance law is easily integrated into the existing flight control system. The new guidance law was extensively tested with various mission scenarios and the fully nonlinear 6-DOF aircraft model. Furthermore, the new guidance law was compared with previous guidance schemes in nonlinear simulation. Results from the numerical simulation show that the proposed guidance law yields better performance than previous ones.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.354-359
• /
• 2003

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.109.1-109
• /
• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.