• 로봇학회논문지
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• 제15권3호
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• pp.248-255
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• 2020

This paper introduces a Feedback Linearization (FL) controller to eliminate the gyro effect on a quadrotor UAV. In order to control the attitude of the quadrotor, the second model equation was differentiated to the 4-th order to induce the control input to be revealed, and then a new control input was derived based on the attitude transformation equation with a gyro effect. For the initial quick posture control of the quadrotor, the existing yaw control was replaced with a separate controller. The simulation was conducted with an experiment in which FL control to remove the gyro effect was applied to the quadrotor and an experiment without removing the gyro effect, from the experimental results, the maximum error seen in each axial direction of the quadrotor was x = 0.22 m, y = 0.20 m, z = 0.16 m. Through the proposed method, the effect of the FL controller for controlling the gyro effect of the quadrotor was confirmed.

• Journal of Advanced Marine Engineering and Technology
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• 제20권4호
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• pp.11-19
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• 1996

Recently, fuzzy and neural network techniques have been successfully applied to control of complex and ill-defined system in a wide variety of areas, such as robot, water purification, automatic train operation system and automatic container crane operation system, etc. In this paper, we present a neuro-fuzzy controller which unifies both fuzzy logic and multi-layered feedforward neural networks. Fuzzy logic provides a means for converting linguistic control knowledge into control actions. On the other hand, feedforward neural networks provide salient features, such as learning and parallelism. In the proposed neuro-fuzzy controller, the parameters of membership functions in the antecedent part of fuzzy inference rules are identified by using the error backpropagation algorithm as a learning rule, while the coefficients of the linear combination of input variables in the consequent part are determined by using the least square estimation method. Finally, the effectiveness of the proposed controller is verified through computer simulation of an inverted pendulum system.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.273-283
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• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.53-60
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• 2010

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.223-233
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• 2008

A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design procedure is developed. Therefore, the proposed controller can be simpler than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop system are uniformly ultimately bounded. Finally, the simulation results of a three-link FJ robot are presented to validate the good position tracking performance of the proposed control system.

• 한국정보교육학회:학술대회논문집
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• 한국정보교육학회 2008년도 동계학술대회
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• pp.245-250
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• 2008

초등학교 정보통신기술 교육에서 새롭게 실시되는 프로그래밍 교육을 위해 로봇 프로그래밍에 대한 관심이 어느 때보다 고조되고 있다. 교육용 로봇을 이용한 프로그래밍교육은 학습자가 로봇을 직접 제작하고 프로그램을 작성하여 실행시키는 과정을 통하여 프로그래밍의 원리뿐만 아니라 학습자의 창의력과 문제해결력 신장에도 많은 도움을 준다. 이러한 로봇 프로그래밍 교육을 활성화시키기 위하여 본 연구에서는 초등학교 아동의 발달 수준에 맞게 게임, 가상체험, 시뮬레이션 기법 등을 적용한 학습 지원시스템을 설계하고자 한다. 이를 통하여 학습자는 고가의 비용을 들이지 않고도 기존의 인터넷 환경에서 접근하여 가상의 로봇을 통하여 재미있고 흥미롭게 프로그래밍기법 및 알고리즘에 대해 쉽게 원리를 배울 수 있는 기회를 제공하고자 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.311-312
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• 2007

This paper proposes a new algorithm for path planning and obstacles avoidance using the ant colony optimization algorithm. The proposed algorithm is a new hybrid algorithm that composes of the ant colony algorithm method and the Maklink graph method. At first, we produce the path of a mobile robot a the static environment. And then we find midpoints of each path using the Maklink graph. Finally the ant colony optimization algorithm is adopted to get a shortest path. In this paper, we prove the performance of the proposed algorithm is better than that of the Dijkstra algorithm through simulation.

• 한국정보처리학회논문지
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• 제2권5호
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• pp.626-633
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• 1995

퍼지 시스템 모델링에 있어서, 퍼지 규칙을 인식하고 퍼지 추론의 소속함수를 조 정하기란 매우 어렵다. 본 논문에서는 인공신경망을 이용함으로써, 자동으로 퍼지 규 칙을 인식하고 동시에 퍼지 추론의 소속함수를 조정할 수 있는 퍼지신경망 모델을 제 시하고, 인공신경망의 수렴도를 향상시키기 위해 개선된 역전파 알고리즘을 사용하여 학습에 사용하였다. 이 방법의 타당성을 로보트 매니풀레이터를 통해 검증 한다.

• Journal of Power Electronics
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• 제13권1호
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• pp.9-19
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• 2013

In this paper, a ripple input current embedded switched-inductor Z-source inverter (rESL-ZSI) and a continuous input current embedded switched-inductor Z-source inverter (cESL-ZSI) are proposed by inserting two dc sources into the switched-inductor cells. The proposed inverters provide a high boost voltage inversion ability, a lower voltage stress across the active switching devices, a continuous input current and a reduced voltage stress on the capacitors. In addition, they can suppress the startup inrush current, which otherwise might destroy the devices. This paper presents the operating principles, analysis, and simulation results, and compares them to the conventional switched-inductor Z-source inverter. In order to verify the performance of the proposed converters, a laboratory prototype was constructed with 60 $V_{dc}$ input to test both configurations.

• 한국정보처리학회논문지
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• 제2권3호
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• pp.343-353
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• 1995

자율 운송 장치나 이동 로보트에 대한 경로 이동 문제는 이동하고자 하는 환경을 완전히 알고 있거나, 장애물이 고정된것으로 가정해 왔다. 따라서, 임의의 환경에 대해 부분적으로 알고 있거나 미지의 환경에서의 자율 운송 장치의 운항을 위해서는 이들 경로 기법은 직접적인 적용이 불가능하고, 확장이 어렵다. 본 논문에서는 이들 문제점을 개선하기 위해서 쿼드트리 기법을 도입하였으며, 임의의 환경에서 자율적으 로 경로 계획을 할 수 있는 알고리즘을 제안하였고, 알고리즘의 타당성을 시뮬레이션 을 통해 증명하였다.