• 전기학회논문지
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• 제57권7호
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• pp.1241-1246
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• 2008

The dynamics of mobile robot is nonlinear. To cope with this nonlinearity, many advanced control schemes have been proposed recently. Generally, the advanced control schemes are complicated and not good for the practical real-time control when they are implemented as control programs. So, in this paper, a relatively simple PI controller is proposed and applied to the position control of mobile robot with the adoption of reference trajectory calculation method used for the AUV(Autonomous Underwater Vehicle) control. The proposed PI controller is programmed using LabVIEW which is popular for its graphical programming characteristics. The simulation and experimental results show the feasibility and effectiveness of the proposed PI controller.

• 전기학회논문지
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• 제62권3호
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• pp.401-406
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• 2013

The mobile robot is one of the widely-used systems in service industry. We propose a gain-scheduling feedback controller for the tracking control of the mobile robot. The benefit of our proposed controller is that it avoids the singularity issue occurs with the controllers suggested in [4], [10]. Moreover, we show the stability analysis of the controlled system via a Lyapunov stability approach such that the exponential convergence of tracking error to zero is analytically provided. The simulation results show the validity of the proposed controller and improved control performance over the conventional controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.564-566
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• 1998

A robot manipulator is a nonlinear time varying MIMO system. Therefore, when a robot manipulator operates at high speeds, the performance of pursuing its trace becomes worse due to the increased nonlinearity of system. Several nonlinear control methods are introduced for solving this problem. But, these methods need a large amount of calculations, so it is necessary to use the controller equipped with a faster and more efficient processing ability. In this paper, we designed the Rhino XR-3 Robot Controller which controls five joints concurrently. To reduce the size of the controller and to control 6 dc-servo motors in real time, we use the TMS320c31, the high-speed digital signal processor.

• 한국정밀공학회지
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• 제25권6호
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• pp.62-70
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• 2008

An adaptive fuzzy backstepping controller is proposed for the motion control for a single-link flexible-joint robot in the presence of parametric uncertainties. Fuzzy logic system is used to approximate the uncertainties of functions and a backstepping technique is employed to deal with the mismatched problem. A compensation controller is also employed to estimates the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulation results for a single-link flexible-joint robot are included to show the effectiveness of proposed controller.

• 한국정밀공학회지
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• 제13권4호
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• pp.75-86
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• 1996

In this paper, we propose a new fuzzy-neural network control scheme for the speed and azimuth control of a mobile robot. The proposed control scheme uses a gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the frame-work of the specialized learning architecture. It is proposed a learning controller consisting of two fuzzy-neural networks based on independent reasoning and a connection net woth fixed weights to simply the fuzzy-neural network. The effectiveness of the proposed controller is illustrated by performing the computer simulation for a circular trajectory tracking of a mobile robot driven by two independent wheels.

• 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.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• 한국정밀공학회지
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• 제19권12호
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• 한국정밀공학회지
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• 제14권4호
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• pp.104-109
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• 1997

A robust controller design to corrdinate a robot manipulator under unknown system parameters and bounded disturbance inputs is presented in this paper. Generally, robust controllers require high input torque so that they may face input saturation in actual application due to the power limitation of the actuator. To solve this problem, an improved robust controller with saturated input torque using a fuzzy logic control is proposed. Numerical examples are shown to validate the proposed controller using two degree-of-freedom planar arm.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.121-124
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• 1997

In this paper, applications of self-recurrent neural networks based of adaptive controller to position control of flexible robot link are considered. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. Therefore, a comparative analysis was mode with linear controller through an simulation. The results are presented to illustrate the advantages and improved performance of the proposed position tracking controller over the conventional linear controller.