• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2408-2410
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• 2001

This paper presents the control of an underactuated two-link robot called the Pendubot. Combining linearized state feedback control with Takagi-Sugeno(T-S) fuzzy controller wide-range stabilization of Pendulum is achieved. The local stabilization controler is designed by linearinzing the dynamic equations about the several desired set point and using LQR(Linear Quadratic Regulator) techniques. Takagi-Sugeno methodology is used to control the nonlinear models near different operation points. Fuzzy controller is obtained by the fuzzy blending of the local controllers. The paper includes a description of the algorithm as well as real time experimental results for the Pendubot.

• 전기의세계
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• v.34 no.1
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• pp.19-23
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• 1985

LQG로 설계된 시스템이 LQR의 보증된 안정감도를 갖도록 $K_{f}$를 조정하는 한 LTR기법을 살펴보았다. q가 0이라면 필터는 실제의 프로세서 잡음의 Q = Q$_{0}$라는 점에서 최적이다. 그러나 q의 값이 증가함에 따라 $K_{f}$는 증가되고 x over ^에 따라서 시스템의 동특성은 관측에 의해 수정되는 항보다 상대적으로 소홀히 취급되어진다. 따라서 출력 y에 포함되어 지지않는 x의 추정치 xover^은 그 실제값과 차이가 많이 나타날 우려가 생긴다. 또한 관측잡음이 xover^에 크게 영향을 미치므로 잡음을 배척하는 필터의 성질도 모호해질 우려가 있다. 그러나 안정강도의 관점에서는 크게 개선되어진다는 것을 알 수 있다. 실제 설계에 있어서는 이 장점과 단점들을 잘 trade off시키는 단계가 필요할 것이다. 또한 추정치 xover^를 얻는데 정상상태의 칼만 필터를 이용하지 않고 극배치(Pole Placement)방법을 사용함도 고려할 수 있으며 이에 따른 LTR도 흥미있는 분야가 될 수 있을 것이다.다.

• Proceedings of the KIPE Conference
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• 2007.07a
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• pp.421-423
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• 2007

In this paper, The authors apply a state feedback control using an optimal control theory to improve the stability of the control and the dynamic response of the DC-DC converter system with a number of different loads. To execute a this state feedback control, The authors present the pole placement technique using Linear Quadratic Regulator(LQR) to optimally control the system. An integrator can also be included in the open-loop path in order to minimize the steady-state error of the output voltage. To confirm the superiority of the controller, The simulation results are presented.

• Proceedings of the KIEE Conference
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• 2003.11a
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• pp.300-302
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• 2003

본 연구에서는 발전기에 적용된 전력계통안정화장치(Power System Stabilizer)의 적용사례를 분석한다. 전력계통안정화장치에 적용된 알고리즘은 Lead-Lag 제어기가 있고, 현대 제어이론에 바탕을 둔 LQR, LQG, $H_{\infty}$, 슬라이딩모드 제어기, 비선형궤환제어기가 있다. 그 외에 퍼지제어기, 뉴럴 제어기, 진화연산제어기등이 있다. 이중에 전력계통안정화장치의 제어알고리즘에 대하여 대표적인 사례를 파악하고져 한다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.4
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• pp.848-855
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• 2011

This paper proposes a method to reduce the limit cycle phenomenon that appears in the steady-state response of a pendubot system, when it is controlled by a state feedback controller based on the linearized system model. For this, we employed the compensator which estimates the friction based on the LuGre model in the LQR control. The proposed compensation method is validated by experiments for a pendubot system, which shows that the external disturbance as well can be efficiently compensated.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.449-456
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• 2003

Hybrid semi-active control system is applied to improve the seismic peformance of the building structure against earthquake excitation and the LQR-based semi-active control algorithm is developed to tune the integrated stiffness/damping characteristics of the hybrid system complementarily. Numerical simulation for a 8-story shear building has been carried out to verify the applicability and effectiveness of the proposed method. Analysis results showed that the hybrid system can be a compromising solution to the seismic response control problem, compared with conventional variable stiffness or variable damping systems. Comparison results proved that the proposed algorithm can perform refined tuning of the stiffness and damping coefficients of the hybrid semi-active control system better than sliding mode control algorithm.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.09a
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• pp.505-512
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• 2003

As large structures such as highrise buildings and cable-stayed bridges become lighter and more flexible, the necessity of structural control for reducing excessive displacement and acceleration due to seismic excitation is increased. As a means to minimize seismic damages, various base isolation systems are adopted or considered for adoption. In this study, the seismic performance of M dampers are studied and compared with that of the NZ system as a base isolation system As the control algorithm of the MR damper, the clipped-optimal control(applied LQR method) is employed. A five-story building is modeled and the seismic performance of the two systems subjected to three different earthquakes is compared. The results show that the M damper system can provide superior protection than the NZ system for a wide range of ground motions.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2006.03a
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• pp.382-389
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• 2006

구조 재료와 시공기술의 발달로 구조물은 높고 길게 설계할 수 있게 되었으나, 그에 따른 진동 문제와 사용성에 관한 문제가 발생하였고 구조물의 과다한 변위는 구조물에 심각한 손상을 발생 시켰다. 이러한 구조물의 진동 문제를 해결하기 위하여 본 논문에서는 확률신경망이론을 사용한 구조물의 능동제어방법을 제안하였다. 구조물의 제어를 위하여 LQR 제어알고리즘을 이용하여 구조물의 상태벡터와 제어력을 구한 후, 상태벡터를 입력으로 제어력을 출력으로 하는 확률신경망의 훈련패턴을 구성하였다. 제안된 방법을 사용하여 지진하중을 받는 3층 빌딩구조물을 제어하였고, 기존의 인공신경망의 제어 결과와 비교하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.71.4-71
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• 2001

This paper presents swing up and stabilization control of an underactuated two-link robot called the Pendubot. This device is a two-link planar robot with an actuator at the shoulder, but no actuator at the elbow. The controller swings up first link from its open loop stable equilibrium point to the unstable equilibrium point and then, catches the unactuated second link to balance it there. Two control algorithms are used for this task. Proportional Derivative Control technique is used to design the swing up control. The linear model of Pendubot is obtained by linearizing the nonlinear dynamic equations about the desired equilibrium point and LQR technique is used to design a stabilization controller.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.303-309
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• 2011

In this paper, an intelligent force control technique is applied to an autonomous helicopter. Although most research on the autonomous helicopter system is about navigation and control, force control of an autonomous helicopter system is quite new and not presented yet. After controlling the position of the helicopter by the LQR method, force control is applied. The adaptive impedance force control algorithm is introduced and tested to regulate the desired force under unknown location and stiffness of the environment. To compensate for uncertainty from outer disturbance, a neural network is added to form an intelligent force control framework. Simulation studies show that the proposed force control algorithm works well.