• 대한기계학회논문집A
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• 제26권2호
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• pp.357-364
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• 2002

A new chattering free sliding made control is proposed for robot manipulators. The control input is derived from the reaching law and the Lyapunov stability criteria, which is only composed of continuous terms. It has a chattering free characteristics and a concise farm. In implementing procedures, no change of equations is needed. Thus, it does not degrade the original merits of the sliding mode control. And it is applied to a 2-link SCARA robot manipulator. It is shown that the proposed control has good trajectory tracking performance compared with the PD control and the conventional sliding mode control which uses the boundary layer concept.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.1375-1381
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• 2007

In this paper, we propose a linear modeling and identical PD controller design scheme for the three-pole hybrid-type AMB recently developed in the laboratory, which consists of three permanent magnets, providing bias flux, three Hall diodes, measuring rotor displacements, and ring type permanent magnet bearing, stabilizing in axial and tilting directions. Along the three physical coordinates formed by three poles, we introduce the redundant coordinate system and three identical decoupled controllers to construct linear model. The experiments are also carried out in order to verify the effectiveness of proposed controller in stabilizing the transient and steady state response of rotor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.817-821
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• 1991

Coordinated motion control of two arms of a dual-arm robot has been studied by many researchers, because of it's potential application in assembly as well as the handling of large and heavy objects beyond the capacity of single arm. This paper derives dynamic equation of a dual-arm robot, and describes some constrains to pick up a simply shaped object at prespecified position on it. This paper concludes with describing both PD and self-tunning control algorithm for the above task.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.149-153
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• 2001

This paper presents an end-point control of 1-link flexible arm tip-mass by using fuzzy position control algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by a DC servomotor. Tip position is controlled so that it follows a desired position. Feedback signal is composed of both tip displacement error and change of error. This paper gives tip responses according to the variations of tip-mass and beam length, and the effects of reducing the residual vibrations occurring at the end-point. In the case of the residual vibrations of tip displacement, fuzzy control has better results than the PD-control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 추계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.209-211
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• 2006

Auto Steering System is the device for course keeping or course altering to ship's steering system. The purpose of automatic steering system is to keep the ship's course stable with the minimum course and rudder angle. Recently, modern control theories are being used widely in analyzing and designing the ship system. Though P.D type auto pilots are widely used in ships, the stability and the adjusting methods are not clarified. In this paper the authors proposed auto steering system with Hybrid Controller. The things that the actual operators of a steering wheel has acquired through their experience can be logically described by the Lingustic Control Rule. The characteristic of the control system were investigated through the computer simulation results. it was found that the Hybrid control was more efficient than the PD control system.

• 전기학회논문지
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• 제67권7호
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• pp.871-877
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• 2018

In this paper, we propose a triple nested PID control scheme for stable hovering of a quadrotor and propose a complementary filter based sensor fusion technique to improve the performance of attitude, altitude and velocity measurement. The triple nested controller has a structure in which a double nested attitude controller that has the angular velocity PD controller in inner loop and the angular PI controller in outer loop, is nested in a velocity control loop to enable stable hovering even in the case of disturbance. We also propose a sensor fusion technique by applying a complementary filter in order to reduce the noise and drift error included in the acceleration and gyro sensor and to measure the velocity by fusing image, gyro, and acceleration sensor. In order to verity the performance, we applied the proposed control and measurement scheme to hovering control of quadrotor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.1640_1641
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• 2009

Dynamic friction and force ripple are the most predominant factors that affect the positioning accuracy of permanent magnet synchronous motor(PMSM) servo drives system, and it is desirable to compensate them in finite time with a continuous control law. In this paper, based on LuGre dynamic friction model, a robust adaptive skidding mode controller is proposed to compensate the nonlinear effect of friction and force ripple. The controller scheme consists of a PD component and a robust adaptive sliding mode controller for estimating the unknown system parameter. Using Lyapunov stability theorem, asymptotic stability analysis and position tracking performance are guaranteed. Simulation results well verify the feasibility and the effectiveness of the proposed scheme for high0precision motion trajectory tracking.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2009년도 제40회 하계학술대회
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• pp.724_725
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• 2009

This paper deals with control parameters deduction and dynamic analysis of hybrid thrust magnetic bearing(HTMB). The flux density at air-gap is obtained from system modeling which considers permanent magnet and electro magnet. The vertical force is derived from flux density using maxwell's stress tensor. An accurate linear model is obtained by using linear approximations of the attraction force around the nominal equilibrium point. The dynamic simulation of the HTMB using the PD controller is conducted and control parameters are deducted.

• 전기학회논문지
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• 제57권1호
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• pp.102-108
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• 2008

This paper presents robust and adaptive control method for complicated three dimensional crane systems with uncertain effect. We consider an overhead crane system in which a trolly located on its top is moved to x- and y-axis independently. We first approximate the complicated crane model through linearization approach to simply construct a PD control and then design an adaptive control system for compensating modeling error and control deviation which is feasibly occurred due to system perturbation in practice. An adaptive control scheme is analytically derived using Lyapunov stability theory for a given bound of system perturbation. We accomplish numerical simulation for evaluation of the proposed control system and demonstrate its superiority comparing with the traditional control strategy.

• 로봇학회논문지
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• 제6권1호
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• pp.34-41
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• 2011

This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit. A linear model, capable of estimating the dynamic characteristics of the antagonistic system in the operating range of pneumatic artificial muscles, was optimally calculated based on frequency-response results and applied to a multiple simultaneous specification control scheme. Trajectory tracking results showed that the presented multiple simultaneous specification controller, built experimentally by three PD typed sample controllers, satisfied successfully all required control specifications; rising time, maximum overshoot, steady-state error.