• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.722-725
• /
• 1996

This paper presents a new control strategy for the position and force control of a flexible manipulator. The governing equation of motion of a two-link flexible manipulator which features a piezoceramic actuator is derived via Hamilton's principle. The control torque of the motor to command desired position and force is determined by a sliding mode controller. This controller is formulated to take account of parameter uncertainties and external disturbances. During the commanded motion, undesirable oscillation is actively suppressed by applying a feedback control voltage to the piezoceramic actuator. Consequently, an accurate compliant motion control of the flexible manipulator is achieved. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control methodology.

• Journal of KSNVE
• /
• v.6 no.2
• /
• pp.187-196
• /
• 1996

A new control strategy to actively control the vibration of a very flexible single link manipulator is proposed and experimentally realized. The control scheme consists of two actuators; a motor mounted at the beam hub and a piezoceramic bonded to the surface of the flexible link. The control torque of the motor to produce a desired angular motion is firstly determined by employing a sliding mode control theory on the equivalent rigid dynamics. The torque is then applied to the flexible manipulator in order to activate the commanded motion. During the motion, underirable oscillation is actively suppressed by applying a feedback control voltage to the piezoceramic actuator. Consequently, the desired tip position is favorably accomplished without vibration. Measured control responses are presented in order to demonstrate the efficiency of the proposed control methodology.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.86-91
• /
• 1988

The analytical studies and applicability of the implementation of the controller for the simple flexible arm studies and discussed in this thesis with the goal of developing flexible manipulator arm control. Minimum-time position control and quadractic-optimal control are investigated in this thesis. Its validity has been established using numerical simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.7-11
• /
• 1991

The adaptive control of flexible joint manipulator is the focus of this paper. The full order flexible joint manipulator dynamic system does not allow the determination of a feedback linearization control as for rigid manipulators. This drawback is overcome by a model order reduction based on a singular perturbation strategy. The full order flexible joint manipulator dynamic model is adopted for derivation of the adaptive control law to damp out the elastic oscillations at the joints. It is shown that the joint position error will converge to zero asymptotically and that other signals remain bounded without precise knowledge of parameters of the manipulator and its joint flexibility.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.321-321
• /
• 2000

This paper presents a sliding mode controller based on variable structure for the tip position control of a single-link flexible manipulator. Dynamic equations of a single-link flexible manipulator are derived from the Euler-Lagrange equation using a Lagrangian assumed modes method based on Bernoulli-Euler Beam theory. Simulation results are presented to show the validity of the system modeling, controller design.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.05a
• /
• pp.203-206
• /
• 2006

In this study, the method of designing the flexible wing model which will be used for wind tunnel testing of gust response alleviation system was presented. The design concept proposed herein was validated by performing the modal testing of the flexible wing model manufactured for demonstration purpose. In addition, the study on the gust response alleviation using flexible wing control surface was performed. For this purpose, optimal control with output feedback was adopted for designing the control surface controller, and the effects of gust response alleviation was validated by performing the numerical simulation for the representative flexible wing model. The methods proposed and validated in this study can be applied for wind tunnel testing of the flexible wing for gust response alleviation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.397-400
• /
• 1996

In this paper, robust motion control of a flexible micro-actuator is presented. The actuator is made of a bimorph piezoelectric high-polymer material (PVDF). No mathematical model system can exactly model a physical system such a flexible micro-actuator. For this reason we must be aware of how modeling errors might adversely affect the performance of a control system for such a model. The H method addresses a wide range of the control problems, combining the frequency and time domain approaches. The design is an optimal one in the sense of minimization of the maximum of the closed-loop transfer function. It includes colored measurement and process noise. It also addresses the issues of robustness due to model uncertainties, and is applicable to the, flexible micro-actuator control problem. Therefore, we adopt the H control problem to the robust motion control of the flexible micro-actuator. Theoretical and experimental results demonstrate the satisfactory performance and the effectiveness of the designed controller. the effectiveness of the designed controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1808-1811
• /
• 1997

A position control algorithm for a flexible manipulato is stuudied. The proposed algorithm is based on a fuzzy theroy with a Steady State Genetic Algorithm(SSGA). The conventional fuzzy methods need expert's knowledges or human experiences. The SSGA, which is one of the optimization algorithms, tunes automatically the input-output membership parameters and fuzzy rules. The computer simulation is presented ot illustrate the approaches. Finally we applied a fuzzy theory with a SSGA to aposition control of a flexible manipulator.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.310-314
• /
• 1988

In designing a high performance electrohydraulic control system for a large flexible structure, several flexible structural modes should be taken into account in a range of hydraulic control system bandwidth. The procedures of modeling a flexible mode control system and designing the high pass filter of load pressure feedback are presented. Example analysis varifies the presented analysis.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2013.10a
• /
• pp.220-225
• /
• 2013

In this study, active control system using sliding mode control method is presented to achieve the gust response alleviation of a three-dimensional flexible wing model. For this purpose, aeroservoelastic model which is composed of aeroelastic plant, control surface actuator model, and gust model depicting the atmospheric turbulence is formulated in the state space. The aerodynamic force generated by the motion of a trailing edge control surface of a flexible wing is made use of as control means. An active control system combining state feedback sliding mode controller and state estimator based on measured responses such as wing tip acceleration and wing root strain is designed for gust response alleviation of a flexible wing aeroservoelastic model. The performance of the controller designed is demonstrated via numerical simulation for the representative flexible wing model under gust loading conditions.