• 제목/요약/키워드: Feedback control

검색결과 4,424건 처리시간 0.047초

Robust feedback error learning neural networks control of robot systems with guaranteed stability

  • Kim, Sung-Woo
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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    • pp.197-200
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    • 1996
  • This paper considers feedback error learning neural networks for robot manipulator control. Feedback error learning proposed by Kawato [2,3,5] is a useful learning control scheme, if nonlinear subsystems (or basis functions) consisting of the robot dynamic equation are known exactly. However, in practice, unmodeled uncertainties and disturbances deteriorate the control performance. Hence, we presents a robust feedback error learning scheme which add robustifying control signal to overcome such effects. After the learning rule is derived, the stability is analyzed using Lyapunov method.

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로보트 매니퓰레이터에 대한 출력궤환 적응제어기 설계 (Design of an adaptive output feedback controller for robot manipulators)

  • 이강웅
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.734-738
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    • 1996
  • An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain observers with same structure as error dynamic systems are used to estimate joint velocities. The parameter adaptation is achieved by the smoothed projection algorithm. The control inputs are saturated outside a domain of interest. Simulation results on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

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유전알고리즘을 이용한 크레인 시스템의 최적제어 (An Optimal Control of the Crane System Using a Genetic Algorithm)

  • 최형식
    • Journal of Advanced Marine Engineering and Technology
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    • 제22권4호
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    • pp.498-504
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    • 1998
  • This paper presents an optimal control algorithm for the overhead crane. To control the swing motion and the position tracking of the payload of the overhead crane a state feedback control algorithm is applied. by using a hybrid genetic algorithm the feedback gains of the state feedback is optimized to minimize the cost function composed of position errors and payload swing angle under unknown constant disturbances. Computer simulation is performed to demonstrate the effectiveness of the proposed control algorithm.

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DC-DC 컨버터에서 Duty Feedback 을 이용한 새로운 센서리스 제어 기법 (A New Sensorless Control Scheme Using Simple Duty Feedback Technique in DC-DC Converters)

  • 노형주;이동윤;현동석
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 2001년도 추계학술대회 논문집
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    • pp.115-118
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    • 2001
  • This paper presents a new sensorless control scheme using simple duty signal feedback technique in DC-DC converters. The proposed sensorless control scheme (DFC) has the characteristics that they show the same as operation performance of current mode control by using duty feedback technique without current sensor as well as present better dynamic response performance than conventional sensorless current mode control (SCM) in case that input source is perturbed by step change or DC input source includes the . harmonics. Also, the proposed control scheme has good noise immunity and simple control circuits since they have one feedback loop, and can be applied to all DC-DC converters. The concept and control principles of the proposed control scheme are explained in detail and the validity of the proposed control scheme is verified through several interesting simulated results.

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궤환 제어시스템의 강인성 증진을 위한 미분 관리제어기 (A Differential Supervisory Controller for Robustness Increase of Feedback Control System)

  • 박왈서
    • 대한전기학회논문지:전기기기및에너지변환시스템부문B
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    • 제52권8호
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    • pp.363-367
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    • 2003
  • Robust control for feedback control system is needed according to the highest precision of industrial automation. However, when a feedback control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, Hybrid control method of feedback and Differential Supervisory controller is presented. A Feedback Controller is operated as a main controller, A Differential Supervisory Controller is a controller which operates only when some undesirable phenomena occur, e. g., when the error hits the boundary of constraint set. The robust control function of Differential Supervisory Controller, as a assistant controller is operated when state is unstable by disturbance. it demonstrated by speed control of motor.

TG Feedback 방식을 제어하기 위한 새로운 Inverter Control System 개발 (Development of the New Inverter Control System for TG Feedback a formula Control)

  • 조현섭;류병식;유인호
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 D
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    • pp.2437-2438
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    • 2001
  • In this paper new, inverter control system for TG feedback a formula Control was developed. The motor control system with TG feedback controller as an effect of load disturbance, it is very difficult to guarantee the robustness of control system. The function of the implementation are TG feedback type, and temperature scheme. The Inverter Control System approach is based on master-slave control concept. To show validity of the developed new inverter control system, severial experiments are illustrated.

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Hydraulic Control System Using a Feedback Linearization Controller and Disturbance Observer - Sensitivity of System Parameters -

  • Kim, Tae-hyung;Lee, Ill-yeong;Jang, Ji-seong
    • 드라이브 ㆍ 컨트롤
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    • 제16권2호
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    • pp.59-65
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    • 2019
  • Hydraulic systems have severe nonlinearity inherently compared to other systems like electric control systems. Hence, precise modeling and analysis of the hydraulic control systems are not easy. In this study, the control performance of a hydraulic control system with a feedback linearization compensator and a disturbance observer was analyzed through experiments and numerical simulations. This study mainly focuses on the quantitative investigation of sensitivity on system uncertainties in the hydraulic control system. First, the sensitivity on the system uncertainty of the hydraulic control system with a Feedback Linearization - State Feedback Controller (FL-SFC) was quantitatively analyzed. In addition, the efficacy of a disturbance observer coupled with the FL-SFC for the hydraulic control system was verified in terms of overcoming the control performances deterioration owing to system uncertainty.

The Effects of Augmented Somatosensory Feedback on Postural Sway and Muscle Co-contraction in Different Sensory Conditions

  • Kim, Seo-hyun;Lee, Kyung-eun;Lim, One-bin;Yi, Chung-hwi
    • 한국전문물리치료학회지
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    • 제27권2호
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    • pp.126-132
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    • 2020
  • Background: Augmented somatosensory feedback stimulates the mechanoreceptor to deliver information on bodily position, improving the postural control. The various types of such feedback include ankle-foot orthoses (AFOs) and vibration. The optimal feedback to mitigate postural sway remains unclear, as does the effect of augmented somatosensory feedback on muscle co-contraction. Objects: We compared postural sway and ankle muscle co-contraction without feedback (control) and with either of two forms of somatosensory feedback (AFOs and vibration). Methods: We recruited 15 healthy subjects and tested them under three feedback conditions (control, AFOs, vibration) with two sensory conditions (eyes open, or eyes closed and the head tilted back), in random order. Postural sway was measured using a force platform; the mean sway area of the 95% confidence ellipse (AREA) and the mean velocity of the center-of-pressure displacement (VEL) were assessed. Co-contraction of the tibialis anterior and gastrocnemius muscles was measured using electromyography and converted into a co-contraction index (CI). Results: We found significant main effects of the three feedback states on postural sway (AREA, VEL) and the CI. The two sensory conditions exerted significant main effects on postural sway (AREA and VEL). AFOs reduced postural sway to a level significantly lower than that of the control (p = 0.014, p < 0.001) or that afforded by vibration (p = 0.024, p < 0.001). In terms of CI amelioration, the AFOs condition was significantly better than the control (p = 0.004). Vibration did not significantly improve either postural sway or the CI compared to the control condition. There was no significant interaction effect between the three feedback conditions and the two sensory conditions. Conclusion: Lower-extremity devices such as AFOs enhance somatosensory perception, improving postural control and decreasing the CI during static standing.

P/M의 TG Feedback방식을 제어하기 위한 인버터 시스템 적용에 관한 연구 (Development of the New Inverter Control System for TG Feedback a formula Control)

  • 조현섭;유인호;;오훈
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2002년도 하계학술대회 논문집 D
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    • pp.2493-2494
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    • 2002
  • In this paper new inverter control system for TG feedback a formula Control was developed. The motor control system with TG feedback controller as an effect of load disturbance, it is very difficult to guarantee the robustness of control system. The function of the implementation are TG feedback type, and temperature scheme. The Inverter Control System approach is based on master-slave control concept. To show validity of the developed new inverter control system, severial experiments are illustrated.

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