• 한국지능시스템학회논문지
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• 제26권2호
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• pp.127-134
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• 2016

본 논문에서는 원판의 반작용을 이용하는 역진자의 강인 자세 제어를 위한 강인 제어 기법을 소개한다. 이를 위해 원판 반작용을 이용하여 자세 조정이 가능한 시스템을 설계한다. 설계된 시스템의 수학적 모델을 구하고 그 수학적 모델을 이용하여 제어기를 설계한다. 설계한 강인 제어 기법은 두 부분으로 구성되어 있다. 초기에는 역진자의 swing up을 위한 수동성 기반의 제어기(passivity based control)를 사용하고 역진자의 자세가 수직 위치 근방에 오면 강인 안정화 제어기로 제어기를 변경한다. 강인 안정화 제어기가 필요한 이유는 역진자 시스템에서 관성 모멘트를 불확실성을 다루기 위함이다. 모의 실험과 실제 실험을 통해 제안하는 제어기가 효과적으로 원판 반작용에 기반한 역진자의 자세 제어를 달성함을 보인다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1775-1776
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• 2006

This paper deals with the problem of friction measurement of an inverted pendulum system using the regression analysis and proposes a solution. The approach taken in this study is getting the friction from a regression relational expression between the motor voltage and the cart velocity of an inverted pendulum system. The result to compensate LQR (linear Quadratic Regulator) controller with the friction which is measured in system, improved the performance of the system. Above all, the study has found that the proposed compensation of the friction reduces the oscillation of the cart position. In conclusion, the proposed method is useful when parameters in the given system model are not known.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.193-196
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• 2002

This paper proposes the control problem of an inverted pendulum system based on Sugeno-Type of fuzzy logic. The universal approximating capability, learning ability, adaptation capability and disturbance rejection are collected in one control strategy. The proposed scheme does not require an accurate dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking. Experimental results perform with an inverted pendulum to show the effectiveness of the approach.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 D
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• pp.2759-2761
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• 2001

Sliding mode is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances. But there ane problems in sliding mode controller. Hard in modeling system parameters, chattering, etc. In this paper, new sliding controller design method is proposed for solving the above problems using fuzzy sliding mode contros(FSMC) scheme are considered. we propose that fuzzy logic system are used to approximate unknown system functions in desinging the SMC of Inverted Pendulum. In the method, a fuzzy logic system is utilized to approximate the unknown function f of the nonlinear system. As a simulation result of applying the inverted pendulum, the sliding controller shows good robust characteristics.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1996년도 추계학술대회 학술발표 논문집
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• pp.227-233
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• 1996

The Inverted Pendulum has been one of most popular nonlinear dynamic systems for the exploration of control techniques. This paper presents a new linear optimal control techniques and nonlinear neural network learning methods. The multiayered neural networks are used to add nonlinear effects on the linear optimal regulator(LQR). The new regulator can compensate nonlinear system uncertainties that are not considered in the LQR design, and can tolerated a wider range of uncertainties than the LQR alone. The new regulator has two neural networks for modeling and control. The neural network for modeling is used to obtain a more accurate model than the given mathematical equations. The neural network for control is used to overcome deficiencies by adding corrections to the linear coefficients of the LQR and by adding nonlinear effects on the LQR. Computer simulations are performed to show the applicability and a more robust regulator than the LQR alone.

• 대한전자공학회논문지TE
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• 제42권3호
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• pp.13-18
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• 2005

본 논문은 안정화 조절기와 추종 성능을 확보하기 위하여 폴리도프 모델를 갖는 도립진자 시스템의 다목적 $H_2/H_{\infty}$ 제어기를 설계를 나타낸다. 꼭지점 기법을 갖는 LMI 설계 기법에 의하여 폴리토프 모델에 대한 다목적 제어기를 설계한다. 각 폴리포프 모델에 대하여 설계된 제어기에 의해 제어된 도립진자를 경사각의 초기값에 대한 수직 각을 안정하게 연직 위치로 복원시키는 곳을 관찰한다.

• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.537-542
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• 2014

This paper proposes a control system to keep the balance of a unicycle robot. The robot consists of the disk and wheel, for balancing and driving respectively, and the tile angle is measured and used for balancing by the IMU sensor. A PID controller is designed based on a non-model based algorithm to prove that it is possible to control the unicycle robot without any approximated linear system model such as the sliding mode control algorithm. The PID controller has the advantage that it is simple to design the controller and it does not require an unnecessary complex formula. In this paper, assuming that the pitch and roll axis are dynamically decoupled, each of the two controllers are designed separately. A reaction wheel pendulum method is used for the control of the roll axis, that is, for balancing and an inverted pendulum concept is used for the control of the pitch axis. To confirm the performance of the proposed controllers using MATLAB Simulink, the dynamic equations of the robot are derived.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.1129-1134
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• 1989

In this paper, we propose a neural network for learning to control semi-linear dynamical systems. The network is a composite system of four three-layer backpropagation subnetworks, and is able to control inverted pendulums better than systems based on modern control theory at least in some ranges of parameters. Three of the four subnetworks in our network system process angles, velocities, and positions of a moving inverted pendulum, respectively. The outputs from those three subnetworks are input to the remaining subnetwork that makes control decisions. Each of the four subnetworks learns connection weights independently by backpropagation algorithms. Teaching signals are given by the human operator. Also, input signals are generated by the human operator, but they are converted by preprocessors to actual input data for the three subnetworks except for the network for control decisions. The whole system is implemented on both of 16 bit personal computers and 32 bit workstations. First, we briefly provide the research background and the inverted pendulum problem itself, followed by the description of our composite neural network model. Next, some results from the simulation are given, which are subsequently compared with the results from a control system based on modern control theory. Then, some discussions and conclusion follow.

• 한국통신학회논문지
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• 제25권7A호
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• pp.967-977
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• 2000

본 논문은 도립전자 시스템을 LFR(Linear Fractional Representation)로 표현하여 얻어진 일반화 제어대상에 대하여 혼합 ${H_2}/H_{\infty}$ 제어기법을 적용한다. 먼저, 일반화 제어대상을 얻기 위하여, LFR로 표현한 도립진자의 선형 모델을 유도한다. LFR에서 고려한 구체적인 불확실성은 3개의 비선형 성분과 1개의 진자질량 불확실성이다. 유도된 선형모델에 하중함수를 더하여 LFR 모델을 확대함으로써 일반화된 제어대상을 얻는다. 다음으로, 이 일반화 제어대상에 대하여 혼합 ${H_2}/H_{\infty}$ 제어기를 설계한다. 혼합 ${H_2}/H_{\infty}$ 제어기 설계를 위해서 LMI(Linear Matrix Inequalities) 기법을 이요한다. 설계된 혼합 ${H_2}/H_{\infty}$ 제어기의 제어성능과 강건 안정성을 평가하기 위해서 모의실험과 실물실험을 통하여 $H_{\infty}$ 제어기와 비교한다. 실험결과, $H_{\infty}$ 제어때 보다 적은 피드백 정보만으로도 혼합 ${H_2}/H_{\infty}$ 제어기는 도립진자의 진자각도 측면에서 $H_{\infty}$ 제어기보다 나은 강건 안정성과 제어 성능을 보인다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2280-2282
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• 2000

This paper presents a simple and new digital redesign algorithm for fussy-model-based controllers. In the first stage, a continuous-time TS fuzzy model is constructed for a given continuous-time nonlinear system and a corresponding continuous-time fuzzy-model-based controller is established based on the existing controller synthesis algorithms. In the second stage, the continuous-time fuzzy-model-based controller is converted to equivalent discrete-time fuzzy-model-based controller, aiming at maintaining the property of the analogue controlled system, which are called intelligent digital redesign. Finally, the proposed method is applied to the digital control of inverted pendulum system to shows the effectiveness and the feasibility of the method.