• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.672-674
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• 2004

Many nonlinear controllers for the power system are based on nonlinear models involving the power angle as an element of the state, and therefore the reference value for the power angle is needed. As this reference value is not generally available, it is difficult to apply such nonlinear control methods in practice. To deal with this problem, we present an input-output feedback linearizing control scheme by selecting the output as a combination of the squared voltage and the relative frequency. It is shown that the internal dynamics are locally stable with controllable damping, and that the frequency remains bounded for all time. Simulations illustrate the effectiveness of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.6 s.183
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• pp.88-95
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• 2006

In this paper, the gain-scheduled control design proposed in the previous paper has been applied to a target tracking system. In such system, it is needed to attenuate disturbance effectively as long as control input satisfies the given constraint on its magnitude. The scheduled gains are derived in the framework of linear matrix inequality(LMI) optimization by means of the MatLab toolbox. Its effectiveness is verified along with the simulation results compared with the conventional optimum constant gain and the scheduled gain control with constant Q matrix cases.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.608-611
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• 2012

This paper focuses on attitude stabilization performance improvement of the quadrotor flying robot. First, the dynamic model of quadrotor flying robot was estimated through PEM (Prediction Error Method) using experimental input/output data. And attitude stabilization performance was improved by increasing the generation frequency of PWM signal from 50 Hz to 500 Hz. Also, the controller is implemented using a standard PID (Proportional-Integral-Derivative) controller augmented with feedback on angular acceleration, allowed the gains to be significantly increased, yielding higher bandwidth. Improved attitude stabilization performance is verified by experiment.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.2
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• pp.21-30
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• 2007

A practical method to design the input shaping which generates control command is proposed in this paper, We suggest an experimental technique considering human operator's target tracking error to improve aiming accuracy which significantly affects hit probability. It is known that stabilization performance is one of the most important factors for ground combat vehicle system. In particular, stabilization error of the manual target tracking system mounted on moving vehicle directly affects hit probability. To reduce this error, we applied input command shaping method using preprocessing filtering and functional curve fitting. First of all, we construct the human operator model to consider effects of human operator on our system. Input shaping curve is divided into several regions to get rid of the above problems and to improve the system performance. At example design part, we chose three steps of functional command curve and determine the parameters of the function by the proposed design method. In order to verify the proposed design method, we carried out the experiments with real plant of a fighting vehicle.

• Journal of Intelligence and Information Systems
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• v.29 no.2
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• pp.115-127
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• 2023

Video stabilization is one of the camera technologies that the importance is gradually increasing as the personal media market has recently become huge. For deep learning-based video stabilization, existing methods collect pairs of video datas before and after stabilization, but it takes a lot of time and effort to create synchronized datas. Recently, to solve this problem, unsupervised learning method using only unstable video data has been proposed. In this paper, we propose a network structure that learns the stabilized trajectory only with the unstable video image without the pair of unstable and stable video pair using the Convolutional Auto Encoder structure, one of the unsupervised learning methods. Optical flow data is used as network input and output, and optical flow data was mapped into grid units to simplify the network and minimize noise. In addition, to generate a stabilized trajectory with an unsupervised learning method, we define the loss function that smoothing the input optical flow data. And through comparison of the results, we confirmed that the network is learned as intended by the loss function.

• Smart Structures and Systems
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• v.14 no.3
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• pp.347-365
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• 2014

The main objective of this paper is to develop an innovative methodology for the vibration suppression control of the multiple degrees-of-freedom (MDOF) flexible structure. The proposed structure represented in this research as a clamped-free-free-free truss type plate is rotated by motors. The controller has two loops for tracking and vibration suppression. In addition to stabilizing the actual system, the proposed feedback control is based on a genetic algorithm (GA) to seek the primary optimal control gain for tracking and stabilization purposes. Moreover, input shaping is introduced for the control scheme that limits motion-induced elastic vibration by shaping the reference command. Experimental results are presented, demonstrating that, in the control loop, roll and yaw angles track control and elastic mode stabilization. It was also demonstrated that combining the input shaper with the proportional-integral-derivative (PID) feedback method has been shown to yield improved performance in controlling the flexible structure system. The broad range of problems discussed in this research is valuable in civil, mechanical, and aerospace engineering for flexible structures with MDOM motion.

• Journal of Aerospace System Engineering
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• v.10 no.1
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• pp.86-94
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• 2016

In this paper, position control of focal plane compensation device using piezoelectric actuator is conducted. The forcal plane compensation device installed on earth observation satellite camera compensates micro-vibration from reaction wheels. In this study, four experimental models of the open-loop compensation device are derived using MATLAB system identification toolbox in the input range of 0~50Hz. Subsequently, the PID controller for each model is designed and the performance test of each controller is conducted through MATLAB/Simulink. According to frequency response analysis of the closed-loop compensation device system, the PID controller designed for 38~50Hz input range has enough tracking performance for the whole 0~50Hz input range. The maximum output error is about $1{\mu}m$ for the input range. The simulation results has been verified by the experimental method.

• Journal of the Korean Society of Physical Medicine
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• v.7 no.1
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• pp.59-67
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• 2012

Purpose : This study was somatosensory less in patients with idiopathic scoliosis somatosensory input to the lumbar stabilization exercises carried out to determine the most effective treatment method to be stable and unstable in terms of supporting the lumbar stabilization exercises the patient's torso length and postural sway by comparing the distance from a standing position and looked for differences in effect on the balance. Methods : The subjects of the study were 18 patients who showed the symptom of scoliosis. The study classified the patients into two experimental groups, one using an unstable surface and one a fixed surface, and the patients were required to do a lumbar stabilization exercise a total of 12 times for 60 minutes per session, three times a week for four weeks. The study carried out a paired comparison t-test so as to compare differences between measurement values in each experimental group before and after the exercise. Results : Superior iliac spine on the left, there was a significant reduction in the group doing the lumbar stabilization exercise on an unstable surface (p<0.05). Regarding change in sway distance to the left and right directions in the group doing the lumbar stabilization exercise on the unstable surface, there was a significant decrease in both the condition of closed eyes or open eyes (p<0.05). As for change in sway distance in forward-and-backward direction, there was a significant reduction in the condition of either closed eyes or open eyes (p<0.05). Conclusion : The lumbar stabilization exercise on an unstable surface improved the trunk posture of patients with scoliosis symmetrically, and the static balance ability in a standing posture was discovered to be improved. In the future, the lumbar stabilization exercise on an unstable surface may be used as a posture correction and balance increase exercise for patients with scoliosis.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.696-699
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• 1997

In this paper, we presents that for discrete system with matched perturbation of uncertain parameters in the state coefficient matrix A(i.e., with perturbation of A in the range of the input matrix B), the poles of the perturbed closed loop system can be placed into the preassigned circle by the static-state feedback. We discuss the robust stabilization of the system satisfying the matching condition and application to the controller design problem.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.2
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• pp.104-109
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• 2000

In this paper, the output feedback stabilizing problem is solved using any given state feedback control law. Compared to the linear systems is not so straightforward for nonlinear systems. We briefly explain the intrinsic obstructions for this problem and provide new output feedback scheme which achieves the semi-global stabilization with the high-gain state observer. THe overall uniform observability of the plant. Therefore, the result can be regarded as an extension of the separation principle for linear systems in some aspect.