• 자동차안전학회지
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• 제13권4호
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• pp.39-52
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• 2021

This paper presents a longitudinal acceleration controller that can be applied to real vehicles (nonlinear and time-varing systems) with only a simple experiment regardless of the type of vehicle and the control interface structure. The controller consists of a feedforward term for fast response, a zero-throttle acceleration compensation term, and a feedback term (P gain) to compensate for errors in the feedforward term, and another feedback term (I gain) to respond to disturbances such as slope. In order to easily apply it to real vehicles, there are only two tuning parameters, feedforward terms of throttle and brake control. And the remaining parameters can be calculated immediately when the two parameters are decided. The tuning procedure is also unified so that it can be quickly and easily applied to various vehicles. The performance of the controller was evaluated using MATLAB/Simulink and Truksim's European Ben model. In addition, the controller was successfully implemented to 3 medium-sized vehicle (HMC Solati), which is composed of different control interface characteristic. Vehicle driving performance was evaluated on the test track and on the urban roads in Siheung and Seoul.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.7-12
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• 1990

In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

• 한국정밀공학회지
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• 제33권10호
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• pp.837-843
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• 2016

This paper presents a position control strategy for a pump-controlled electro-hydrostatic actuator (EHA) using feedforward control with disturbance compensation. As the disturbance observer is used to estimate nonlinear dynamics of EHA, which has valve-opening conditionals, as well as external disturbances, an additional feedforward control is adopted to achieve rapid response. The effectiveness of the proposed control strategy is verified through experiment using an EHA test bench. The proposed controller shows better tracking performance compared with a conventional PID controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.85.4-85
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• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• 전력전자학회논문지
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• 제18권6호
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• pp.573-578
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• 2013

In the case of the Back EMF voltage contains the harmonics, the motor torque ripple and vibration is occurred by the current pulsation, because IPMSM control algorithm is the model which is assumed that it contains a sinusoidal Back EMF voltage. To improve ride quality, in the case of IPMSM for EV, improving the torque control characteristics is necessary. Therefore, there is a need to minimize the influence of the harmonics. In this paper, the investigation to decrease the current distortion factor has been performed for improving torque control characteristics by applying the non-sinusoidal Back EMF to IPMSM model.

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

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 전력전자학술대회
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• pp.144-146
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• 2018

In order to meet the harmonics standards such as IEEE 519 and P1547 the output quality of a grid connected inverter should satisfy a certain level of Total Harmonic Distortion (THD) value. However, the output quality of an inverter gets degraded due to the grid voltage harmonics, the dead time effects and the nonlinearity of the switches, which all contributes to a higher THD value of the output. In order to meet the required THD value for the inverter output under the distorted grid condition the use of harmonic controller is essential. In this paper a novel feedforward harmonic compensation method is proposed in order to effectively eliminate the low order harmonics in the inverter current to the grid. In the proposed method, unlike the conventional harmonic control methods, the hamonic components are directly compensated by the feedforward terms generated by the PR controller with the grid current in the stationary frame. The proposed method is simple in implementation but powerful in eliminating the harmonics from the output. The effectiveness of proposed method is verified through the PSIM simulation and the experiments with a 5kW single phase grid connected inverter.

• 수산해양기술연구
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• 제30권4호
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• pp.329-340
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• 1994

This paper presents a dynamic compensation methodology for robust trajectory tracking control of uncertain robot manipulators. To improve tracking performance of the system, a full model-based feedforward compensation with continuous VS-type robust control is developed in this paper(i.e,. robust decentralized adaptive control scheme). Since possible bounds of uncertainties are unknown, the adaptive bounds of the robust control is used to directly estimate the uncertainty bounds(instead of estimating manipulator parameters as in centralized adaptive control0. The global stability and robustness issues of the proposed control algorithm have been investigated extensively and rigorously via a Lyapunov method. The presented control algorithm guarantees that all system responses are uniformly ultimately bounded. Thus, it is shown that the control system is evaluated to be highly robust with respect to significant uncertainties.

• 대한전기학회논문지
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• 제36권3호
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• pp.188-196
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• 1987

This paper describes a design method for the buck type switching regulator to improve transient and steady state performances. Necessary design considerations on the power stage are given before designing the controller to obtain better trandient responses with less control effort and a feedforward compensation is also given to effectively improve the steady state performance. In the design of the controller, a PIM (proportional-integral-measurable) control method with optimized constant feedback gains is presented to get better tansient and steady state performances without complicating the implementation of controller. Computer simulations and experimental results are given to show the usefulness of the presented technique.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2003년도 추계학술대회 논문집
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• pp.36-40
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• 2003

On analyzing the power circuit of a DVR system, control limitations and control targets are presented for the voltage compensation in DVRs. The control delay in digital controllers increases the dimension of the system transfer function one degree higher which makes the control system more complicate and more unstable. Based on the power stage analysis, a novel controller for the compensation voltages in DVRs is proposed by a feedforward control scheme. Proposed controller works well with the time delay in the digital control system. This paper also proposes a guide line to design the control gain, appropriate output filter parameters and inverter switching frequency for DVRs in digital controllers. Proposed theory is verified by an experimental DVR system with a typical digital controller.