• 한국정밀공학회지
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• 제24권11호
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• pp.59-65
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• 2007

A new optimal state feedback and disturbance feedforward control design in the sense of minimizing $L_2$-gain from disturbance to control output is proposed for disturbance attenuation of systems with bounded control input and measurable disturbance. The controller is derived in the framework of linear matrix inequality(LMI) optimization. A gain scheduled state feedback and disturbance feedforward control design is also suggested to improve disturbance attenuation performance. The control gains are scheduled according to the proximity to the origin of the state of the plant and the magnitude of disturbance. This procedure yields a stable linear time varying control structure that allows higher gain and hence higher performance controller as the state and the disturbance move closer to the origin. The main results give sufficient conditions for the satisfaction of a parameter-dependent performance measure, without violating the bounded control input condition.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.235-235
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• 2000

This paper proposes a tole force feedback control through internet systems. The system consists of joystick, solver, client, robot, and internet. The main contribution of this work is the implementation of the system rather than theoretical analysis. The time delay problems will be considered next step.

• Kyungpook Mathematical Journal
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• 제56권2호
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• pp.517-527
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• 2016

In this paper, we consider a thermoviscoelastic equation which has one end fixed and output feedback control at the other end. We prove the existence of solutions using the Galerkin method and then investigate the exponential stability of solutions by using multiplier technique.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1673-1678
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• 2005

This paper addresses both theoretical and experimental studies of the stability of haptic interfaces during the simulation of virtual Coulomb friction. The first objective of this paper is to present an analysis of how friction affects stability in terms of the describing function method and the absolute stability theory. Two different feedback methods are introduced and are used to evaluate the analysis: an active force feedback, using a motor, and a passive force feedback, using controllable brake. The second objective of this paper is to present a comparison of the theoretical and experimental results. The results indicate that the sustained oscillations due to the limit cycle occur when simulating friction with an active force feedback. In contrast, a passive force feedback can simulate virtual friction without the occurrence of instability. In conclusion, a hybrid active/passive force feedback is proposed to simulate a highly realistic friction display.

• International Journal of Control, Automation, and Systems
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• 제3권1호
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• pp.56-69
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• 2005

In this paper, it is clearly shown that the two well-known necessary and sufficient conditions mp n as generic static output feedback pole-assignment and mp + d(m+p) n+d as generic minimum d-th order dynamic output feedback pole-assignment on complex field, unbelievably, do not match up each other in strictly proper linear systems. For the analysis, a diagram analysis is newly created (which is defined by the analysis of 'convoluted rectangular/dot diagrams' constructed via node-branch conversion of the signal flow graphs of output feedback gain loops). Under this diagram analysis, it is proved that the minimum d-th order dynamic output feedback compensator for pole-assignment in m-input, p-output, n-th order systems is quantitatively decomposed into static output feedback compensator and its associated d number of arbitrary 1st order dynamic elements in augmented (m+d)-input, (p+d)-output, (n+d)-th order systems. Total configuration of the mismatched data is presented in a Table.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.257-260
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• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• 제어로봇시스템학회논문지
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• 제10권7호
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• pp.590-596
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• 2004

A passivity-based dynamic output feedback controller design is considered for a finite collection of non-square linear systems. Design of a single controller for a set of plants i.e. simultaneous stabilization is an important issue in the area of robust control design. We first determine a squaring gain matrix and an additional dynamics that is connected to the systems in a feedforward way, then a static passivating control law is designed. Consequently, the actual feedback controller will be the static control law combined with the feedforward dynamics. A necessary and sufficient condition for the existence of the parallel feedforward compensator is given by the static output feedback formulation. In contrast to the previous result [1], a technical condition for constructing the parallel feedforward compensator is removed by proposing a new type of the parallel compensator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.116.5-116
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• 2002

In remote control of telerobotics equipment, the real-time visual feedback is necessary in order to facilitate real-time control. Because of the network congestion and the associated delays, the real-time image feedback is generally difficult in the public networks like internet. If the remote user is not able to receive the image feedback within a certain time, the work performance may tend to decrease, and it makes difficulties to control of the telerobotics equipment. In this paper, we propose an improved visual feedback scheme over the internet for telerobotics system. The size of a remote site image and its quality are adjusted for efficient transmission. The constructed system has a be...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1116-1121
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• 1991

In this paper the feedback linearization of the valve-controlled nonlinear hydraulic velocity control system and the Implementation of the digital state feedback controller is studied. The C.inf. nonlinear transformation to the electro-hydraulic velocity control system, which transforms nonlinear system to linear equivalent one, is obtained. It is shown that this transformation Is global one. The digital controller to this linearized model is obtained by using the one-step ahead state estimator and implemented to real plant. The proposed method In this paper is easier to implement than other proposed methods and it is possible to control in real tine. The experiment and simulation study show that the implementation of the digital state feedback controller based on the feedback linearized model is successful.

• 전기학회논문지
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• 제56권2호
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• pp.383-388
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• 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.