• Journal of Aerospace System Engineering
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• v.9 no.4
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• pp.23-30
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• 2015

The focal plane image stabilization for a camera is one of the most effective method that can increases the digital camera's image quality by compensating the vibration disturbance. The optical image stabilization can be implemented by making the focal plane to trace the path of incident light. To control the position of focal plane motion compensating stage precisely, a nonlinear control algorithm has been applied by considering coulomb friction which is nonlinear behavior of the compensator system. In our study, we have analyzed the hand shaking vibration using the gyro sensor, and made a mathematical model of compensating stage containing optical sensor and piezo-actuator. Then the nonlinear control algorithm has been designed and its performance has been verified by experiment. In this study, a friction driven peizo-electric actuator with $1{\mu}m$ resolution and 10mm/s speed has been used for stage movement.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1104-1106
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• 1996

In this paper, a hierarchical fuzzy controller is proposed for the stabilization control of the inverted pendulum system. The design of controller for that system is difficult because of its complicated nonlinear mathematical model with unknown parameters. Conventional fuzzy control strategy based only on dynamics of pendulum made have failed to stabilize. However, proposed control strategies are to swing pendulum from natural stable up equilibrium point to an unstable equilibrium point and are to transport a cart from an arbitrary position toward a center of rail. Thus, the proposed fuzzy stabilization controller have a hierarchical fuzzy inference structure; that is, the lower level is for inference interface for the virtual equilibrium point and the higher level one for the position control of cart according to the firstly inferred virtual equilibrium point.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.1
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• pp.41-50
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• 2014

The rising penetration of renewable energy resulted in the development of grid-connected large-scale power plants. Therefore, grid stabilization, which depends on the system-type or grid of each country, plays an important role and has been strengthened by different grid codes. With this background, VDE-AR-N 4105 for photovoltaic (PV) systems connected to the low-voltage grid and the German Association of Energy and Water Industries (BDEW) introduced the medium-voltage grid code for connecting power plants to the grid and they are the most stringent certifications. In this paper, an optimal control strategy scheme for three-phase grid-connected PV system is enhanced with VDE-AR-N 4105 and BDEW grid code, where both active/reactive powers are controlled. Simulation and experimental results of 100kW PV inverter are shown to verify the effectiveness of the proposed implemental control strategy.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.4
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• pp.119-127
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• 2021

The aim of this paper is to propose a less conservative stabilization condition for leader-following sampled-data control of wheeled mobile robot (WMR) systems by using a clock-dependent Lyapunov function (CDLF) with looped functionals. In the leader-following WMR system, the state and input of the leader robot are measured by digital devices mounted on the following robot, and they are utilized to construct the sampled-data controller of the following robot. To design the sampled-data controller, a stabilization condition is derived by using the CDLF with looped functionals, and formulated in terms of sum of squares (SOS). The considered Lyapunov function is a polynomial form with respect to the clock related to the transmitted sampling instants. As the degree of the Lyapunov function increases, the stabilization condition becomes less conservative. This ensures that the designed controller is able to stabilize the system with a larger maximum sampling interval. The simulation results are provided to demonstrate the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.224-226
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• 2000

In this paper, a robust $H_{\infty}$ controller, based on the Riccati equation approach, is proposed for HVDC power system with parametric uncertainties. Bounds of power system parametric uncertainties are included in Riccati equation to improve the robustness of controller. The proposed $H_{\infty}$ controller for the stabilization of HVDC power system can ensure that the overall system is asymptotically stable for all admissible uncertainties. Simulation results show that the proposed $H_{\infty}$ controller can achieve good performance in presence of uncertainties of power system.

• Proceedings of the KIPE Conference
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• 2014.11a
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• pp.66-67
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• 2014

Stabilization of the DC bus voltage is an important task in DC-AC microgrid system with renewable energy source such as solar system. A battery energy storage system (BESS) has become a general solution to stabilize the DC-bus voltage in DC-AC microgrid. This paper develops the analog BESS controller which requires neither computation nor dc-bus voltage measurement, so that the system can be implemented simply and easily. Even though others methods can stabilize and control the DC-bus voltage, it has complicated structure in control and low adaptive capability. The proposed topology is simple but is able to compensate the solar source variation and stabilize the DC-bus voltage under any loads and distributed generation (DG) conditions. In addition, the design of analog controller is presented to obtain a robust system. In order to verify the effectiveness of the proposed control strategy, simulation is carried out by using PSIM software.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.4
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• pp.543-552
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• 1994

This paper presents a decentralized quadratic regulation architecture with feedforward neural networks for the control problem of complex systems. In this method, the decentralized technique was used to treat several simple subsystems instead of a full complex system in order to reduce training time of neural networks, and the neural networks' nonlinear mapping ability is exploited to handle the nonlinear interaction variables between subsystems. The decentralized regulating architecture is composed of local neuro-controllers, local neuro-identifiers and an overall interaction neuro-identifier. With the interaction neuro-identifier that catches interaction characteristics, a local neuro-identifier is trained to simulate a subsystem dynamics. A local neuro-controller is trained to learn how to control the subsystem by using generalized Backprogation Through Time(BTT) algorithm. The proposed neural network based decentralized regulating scheme is applied in the power System Stabilization(PSS) control problem for an imterconnected power system, and compared with that by a conventional centralized LQ regulator for the power system.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.337-340
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• 2004

Stabilizing systems with Gyroscope are extensively used in various tracking devices for attaining the system's objective. Because of putting performance first in importance of system and focusing on specification of parts, designers are sometimes passing over the dynamic characteristics of system in vibrating condition. In this paper, we were dealing with unstable stabilizing control due to coincidence of stabilization platform natural frequency and that of Gyroscope used for sensing rate. For solving this problem, statics and dynamic test of silicon rubber with 3 different hardness were performed and similar stabilizing system was adopted to prove reasonability of rubber choice and static pre-strain.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.59-64
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• 2005

In the paper, we propose an intelligent walking algorithm of biped robot on the uneven ground and a posture stabilization algorithm against external forces. At first, the mechanics and the control system of biped robot that can walk on the uneven ground and stand external forces are designed. We propose obstacle hurdling, incline walking. and going-up stairs algorithm by using infrared sensors and FSR sensors. Also, posture stabilization algorithm against external forces is designed using FSR sensors. Infrared sensors ate used to detect the obstacles in the working environment and FSR sensors are used to obtain the ZMP of biped robot. The developed biped robot can be controlled by the remote control system using vision system and RF module. The experimental results show that the biped robot Performs obstacle avoidance, obstacle hurdling, walking on the inclined plane, and going up stairs using the proposed walking and stabilization algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.3
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• pp.331-339
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• 2013

The Interest in disease prevention and rehabilitation is increasing depending on increase of patients with spinal. This is being developed using the spine stabilization device is being studied. So far studies have only evaluated the effect on trunk stabilization exercises but analysis of human movement patterns for active movement and passive movement did not. We assessed the muscle activity of trunk and leg muscle during passive and active tilt mode on eight tilt directions at tilt angle of $30^{\circ}$ using 3-D dynamic postural balance training system. We performed experimental study on the muscular activities of trunk muscle about rectus abdominis, external obliques, latissimus dorsi, erector spinae, and leg muscle about rectus femoris, Biceps femoris, Tibialis Anterior, gastrocnemius. As a result, muscle activation was different depending on the direction of movement and pattern. The results indicate that various patterns of spinal stabilization exercise system could be applied to an effective training of chronic low back pain patients.