• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.707-708
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.169-170
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• 2006

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.1
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• pp.12-18
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• 2010

This paper proposes an adaptive robust fuzzy control scheme for path tracking of a wheeled mobile robot with uncertainties. The robot dynamics including the actuator dynamics is considered in this work. The presented controller is composed of a fuzzy basis function network (FBFN) to approximate an unknown nonlinear function of the robot complete dynamics, an adaptive robust input to overcome the uncertainties, and a stabilizing control input. Genetic algorithms are employed to optimize the fuzzy rules of FBFN. The stability and the convergence of the tracking errors are guaranteed using the Lyapunov stability theory. When the controller is designed, the different parameters for two actuator models in the dynamic equation are taken into account. The proposed control scheme does not require the accurate parameter values for the actuator parameters as well as the robot parameters. The validity and robustness of the proposed control scheme are demonstrated through computer simulations.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.10
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• pp.789-796
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• 2016

The weight of an antenna system pointing satellite on the mobile platform is restricted by the weight limit of the mobile platform. The maximum power of the actuator driving the antenna system is thus limited because a high power actuator needs a heavier weight. Thus, a drive system is designed to have a low torque requirement by reducing the gravitational torque depending on gravity or acceleration of the mobile platform, including vibration, shock, and accelerated motion. To reduce the gravitational torque, the mathematical model of the gravitational torque is preferentially obtained. However, the method to directly estimate the mathematical model in an antenna system has not previously been reported. In this paper, a method is proposed to estimate the gravitational torque as a mathematical model in the antenna system. Additionally, a method is also proposed to calculate the optimal weight of the balancing weight to compensate for the gravitational torque.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.136-139
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• 2006

In this paper we propose a small form factor actuator using an inclined motion guide for auto-focusing and zoom motions for mobile information devices. The novel structure using the inclined motion guide and a lens-supporting beam converts the circular motion by an ultrasonic motor into the linear motion of the optical lens. The proposed actuator has a simple structure to minimizing the mechanical tolerance, and the stroke is easy to modify by controlling the inclined angle. Experiments using a prototype verify the validity of the model as small form factor optical actuator.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.398.1-398
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• 2002

A new type actuator has been designed and investigated to overcome thermal problems in slim optical disc drives adopted in mobile storage devices. As the size of optical disc drives decreases, it is more difficult to remove the heat inside a drive and the temperature of an actuator increases. As a result, the second resonance of an actuator moves down to a lower frequency band and the performance of optical parts also deteriorates. (omitted)

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.471-476
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• 2015

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.227-231
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• 2004

Technological advance in information technology has sparked the necessity of small form factor (SFF) optical disk for mobile devices. Small form factor optical disk is highly anticipated to be a next generation storage device because it can be used for a cost-effective way compared with solid state memory. For the application to the 5 mm height small-form-factor optical disk drive, we have presented an optical flying head and swing arm actuator. In this study, we propose a small 1-axis actuator for compensating ficus error and SA due to the variation of cover-layer thickness in the cover-layered small optical disk. The main design issues of the 1-axis actuator are the realization of compact structure and the new support structure of the actuator: Finally, the compensating principle and performance of the 1-axis actuator will be explained.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.505-506
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• 2010

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1238-1245
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• 2014

This paper proposes an RBFN-based adaptive tracking controller for an electrically driven mobile robot with parametric uncertainties and external disturbances. A mobile robot model considered in this paper includes all models of the robot body and actuators with uncertain kinematic and dynamic parameters, and uncertain frictions and external disturbances. The proposed controller consists of an RBFN(Radial Basis Function Network) and a robust adaptive controller. The presented RBFN is used to approximate unknown nonlinear robot dynamic functions. The proposed controller is adjusted by the adaptation laws obtained through the Lyapunov stability analysis. The proposed control scheme does not a priori need the accurate knowledge of all parameters in the robot kinematics, robot dynamics and actuator dynamics. Also, nominal parameter values are not required in the controller. The global stability of the closed-loop robot control system is guaranteed using the Lyapunov stability theory. Simulation results show the validity and robustness of the proposed control scheme.