• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.502-507
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• 2016

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.173-176
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• 1996

This paper deals with the problem of designing an adaptive regulator in order to improve transient performance in time-response when the linear state-space model of the plant contains unknown parameters which vary within prescribed bounds. The whole possible parameter space is divided into some subspaces and multiple models and controllers are established from the view point that each controller gives satisfactory transient behavior for systems corresponding to each parameter subspace. Based on time-response and an associated cost function, an appropriate controller is selected on-line out of multiple controllers.

• Journal of Power Electronics
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• 제15권5호
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• pp.1178-1189
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• 2015

A non-isolated Multiple Input Converter (MIC) with an input port, two storage ports and a load port is proposed. The synthesis of the proposed four port converter with its switch realization is presented. A steady state analysis of each operating mode with a small-signal model is derived, and a stability analysis is done. A mode selection controller is proposed to automatically choose a specific operating mode based on the voltage levels of the different source and storage units. In addition, a voltage control loop is used to regulate the output voltage. A 200W prototype is built with a TMS320F28027 DSP controller to test the feasibility of the operating modes. Simulation and experimental results show the ability of the proposed converter to handle multiple inputs either individually or simultaneously.

• 제어로봇시스템학회논문지
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• 제2권4호
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• pp.248-256
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• 1996

This paper presents an anti-reset windup (ARW) compensation method for saturating control systems with multiple controllers and/or multiloop configuration. The proposed ARW method is motivated by the concept of equilibrium point. The design parameters of the ARW scheme is derive explicitly by minimizing a reasonable performance index. In the event of saturation, the resulting dynamics of the compensated controller reflects the dynamics of the linear closed-loop system. The proposed method guarantees the total stability o fthe resulting control systems under a certain condition. An illustrative example is given to show the effectiveness of the proposed method. The paper is an extension of the results in Park and Choi[10].

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.434-439
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• 1997

This paper presents the active control of a flexible plate vibration. The plate was excited by white noise point force and the control was performed by one or two piezo ceramic actuator bonded to the surface of the plate. An adaptive controller based on filtered-x or multiple filtered-x LMS algorithm was used and the controller was defined by minimizing the square of the response of error sensor. In the experiment, PZT sensor was used as an error sensor while white noise was applied as a disturbance. In the case of multiple channel control, more than 22 dB of vibration reduction was achieved. Results indicate that the vibration of a flexible plate could be controlled effectively when the piezo ceramic actuator was used with multiple filtered-x LMS algorithm.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1992년도 춘계학술대회
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• pp.79-81
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• 1992

This paper describes the design of an adaptive closed circuit anesthesia controller based on a multiplexed mass spectrometer system. The controller deals with measurement deterioration caused by measurement delay and rise time through a tong catheter as well as long sampling times due to the multiplexed measurements. Measurement data is extrapolated between sampling periods to increase the estimation convergence rate. A multiple-step-ahead predictive control algorithm is used to calculate intermediatc control inputs between sampling intervals. Simulations are used to validate the designed controller.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.466-471
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• 1996

This work is concerned with the development of digital contouring controller formulti-axial servosystems. Digital optimal contouring controller is proposed to coordinate each of the controllers of multiple feed drives and specifically improve the controuring performance. The optimal control formulation includes the contour error explicity in the performance index to be minimized. The contouring control is exercised for straight line and circular contours. Substantial improvement in contouring perfomance is obtained for a range of contouring conditions. Both steady state and transient error measures have been considered. The simulation study presented has estiblished the potential of the proposed controller to improve contourning perfomance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.174.4-174
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• 2001

Vehicle stability control system can enhance the vehicle stability and handling in the emergency situations through the control of traction and braking forces at the individual wheels. To achieve the desired performance, the wheel slip controller manages the hydraulic braking system to generate the desired braking force at each wheel. In this study, we propose the wheel slip controller for the generation of the braking forces based on multiple sliding mode control theory with the pulse width modulation. The proposed controller follows to the slip ratio and the brake pressure the desired ones so that the vehicle stability controller can Intervene braking force at each wheel. We show the validity and usefulness of the proposed controller through computer simulations.

• 대한기계학회논문집A
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• 제28권12호
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• pp.1833-1844
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• 2004

A controller is proposed for the robust backstepping control of a class of nonlinear multiple-input multiple-output (MIMO) systems which can be converted to a strict feedback form. The proposed robust backstepping control scheme follows a systematic procedure for the design of control laws and uses time delay estimation (TDE) to estimate the uncertainties such as parameter variations, unknown disturbances, and unmodeled dynamics, etc. The proposed controller can be also applied to nonlinear MIMO systems with unmatched uncertainties. Stability analysis of the closed-loop system which contains the plant and the proposed controller is also studied and hereby a sufficient stability condition for the closed-loop system is proposed. The simulation results show that the control scheme works well with uncertainties and the proposed stability condition is valid. The controller is experimentally verified on a single-link flexible arm to show the effectiveness of the proposed scheme in the complicated systems with uncertainties.

• 한국항공우주학회지
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• 제31권6호
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• pp.61-71
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• 2003

터보제트엔진 모델에 대한 제어에 있어서, 비교적 잘 설계된 PI 제어기 성능결과를 바탕으로 Takagi-Sugeno형 뉴로-퍼지 추론계를 통한 플랜트 모델의 제어 시스템을 규명함으로서, PI형 T-S 퍼지규칙들을 퍼지제어기를 설계하였다. 이렇게 설계된 제어기의 성능을 향상시키기 위하여, 각 퍼지규칙들을 퍼지 C-Means Algorithm으로부터 각각의 목적 함수군으로 분류한 후, 각 분류군에 대해 규칙간의 가중치가 각 목적함수의 만족도에 부합되도록 하는 기법을 제시하였고, 이를 잘 설계된 T-S형 퍼지제어기에 적용하여 성능을 향상시킴으로써 그 유용성을 보였다.