• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.3
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• pp.159-169
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• 2004

In this study, integration control of air-cell seat and semi-active suspension is proposed to minimize the road-tyre force which can cause uncomfortable feeling to rider. The proposed integration control with sliding perturbation observer is consisted of air-cell seat control which uses the force generated by air-cell and the sky-hook control. The air-cell seat itself has been modeled as a 1 degree of freedom spring-damper system. The actual characteristics of the air-cell have been analyzed through experiments. In this paper, we introduces a new robust motion control algorithm using partial state feedback for a nonlinear system with modelling uncertainties and external disturbances. The major contribution of this work is the development and design of robust observer for the state and the perturbation. The combination skyhook controller and air-cell controller using the observer improves control performance, because of the robust routine called Sliding Observer Design for Integration Control of Air-Cell Seat and Semi-active Suspension. The simulation results show a high accuracy and a good performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.1066-1069
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• 2002

Dynamic postural control varies with the environmental context, specific task and intentions of the subject. In this paper, dynamic postural control against forward-backward perturbations of a platform was estimated using tri-axial accelerometers and a force plate. Ten young healthy volunteers stood upright in comfortable condition on the perturbation system which was controlled by an AC servo motor. With anterior-posterior perturbations, movements of ankle, knee and hip Joints were obtained by tri-axial accelerometers. and ground reaction forces with corresponding displacements of the center of pressure(CoP) by the force plate. The result showed that the ankle moved first and the trunk forward, which implies that the mechanism of the dynamic postural control in forward-backward perturbations, occurred in the procedure of the ankle, the knee and the hip. Knee flexion and hip extension in the period of acceleration, constant velocity and deceleration phase is very important fur the balance recovery. These responses depends on the magnitude and timing of the perturbation. From the present study the accelerometry-system appears to be a promising tool for understanding kinematic accelerative In response to a transient platform perturbation. A more through understanding of balance recovery mechanism may aid in designing methods for reducing falls and the resulting injuries.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.782-787
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• 2004

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. This work also proposes two effective actuating methods of the perturbation estimator: on-off condition and filtering condition. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.1 s.178
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• pp.121-128
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• 2006

This paper deals with the application of enhanced perturbation estimation (SMCEPE) to sliding mode control of a dynamic system in the presence of perturbations including external disturbances, unpredictable parameter variations, and unstructured dynamics. Compared to conventional sliding mode control (SMC) and sliding mode control with perturbation estimation (SMCPE), the proposed one can offer robust control performances under serious control conditions, such as fast dynamic perturbations and slow loop-closure speeds, without a priori knowledge on upper bounds of perturbations. The perturbation estimator in SHCEPE also has more adaptability owing to the fractional-order hold technique. The effectiveness and superiority of the proposed control strategy are demonstrated by a series of simulations on the position tracking control of a two-link robot manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.72-81
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• 2009

This paper presents a robust adaptive control method using model reference control strategy against autonomous robot systems with random friction nature. We approximate a nonlinear robot system model by means of a feedback linearization approach to derive nominal control law. We construct a Least Square (LS) based observer to estimate friction dynamics online and then represent a perturbed system model with respect to approximation error between an actual friction and its estimation. Model reference based control design is achieved to implement an auxiliary control in order for reducing control error in practice due to system perturbation. Additionally, we conduct theoretical study to demonstrate stability of the perturbed system model through Lyapunov theory. Numerical simulation is carried out for evaluating the proposed control methodology and demonstrating its superiority by comparing it to a traditional nominal control method.

• Macromolecular Research
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• v.11 no.1
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• pp.53-61
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• 2003

A molecular-thermodynamic model is developed for the salt-induced protein precipitation. The protein molecules interact through four intermolecular potentials. An equation of state is derived based on the statistical mechanical perturbation theory with the modified Chiew's equation for the fluid phase, Young's equation for the solid phase as the reference system and a perturbation based on the protein-protein effective two body potential. The equation of state provides an expression for the chemical potential of the protein. In a single protein system, the phase separation is represented by fluid-fluid equilibria. The precipitation behaviors are simulated with the partition coefficient at various salt concentrations and degree of pre-aggregation effect for the protein particles. In a binary protein system, we regard the system as a fluid-solid phase equilibrium. At equilibrium, we compute the reduced osmotic pressure-composition diagram in the diverse protein size difference and salt concentrations.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.468-471
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• 1997

In this paper, we investigate the time-sampling effects on the digital implementation of singular perturbation based STT autopilot with excellent performance and propose a compensation method for the time-sampling effects. In digitization of analog STT autopilot, it is found that the stability margin of the fast dynamics is mostly affected to lead to rapid decrease. Under the this analysis, a composite digital controller with additional compensator for fast dynamics is proposed to improve the time-sampling effect and a simulation verifies the result.

• Bulletin of the Korean Chemical Society
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• v.21 no.12
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• pp.1213-1216
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• 2000

Localized structures with fronts connecting a Turing patterns and Hopf oscillations are found in discrete reaction-diffusion system. The Chorite-Iodide-Malonic Acid (CIMA) reaction model is used for a reaction scheme. Localized structures in discrete reaction-diffusion system have more diverse and interesting features than ones in continuous system. Various localized structures can be obtained when a single perturbation is applied with variation of coupling strength of two intermediates. Roles of perturbations are not so simple that perturbations are sources of both Turing patterns and Hopf oscillating domains, and spatial distribution of them is determined by strength of a perturbation applied initially.

• Journal of Sensor Science and Technology
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• v.26 no.4
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• pp.251-258
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• 2017

According to recent studies by scientists about how to search for food, homes and the mates, it is found that the gradient information plays a key role. From cells to insects and large animals, they mostly either have special sensing organism or use a strategy to measure the gradient. Use of a perturbation as an additional input is introduced for sensor signal processing in order to get the gradient information. Different from typical approach, which calculates the gradient from differentiation, the proposed processing is done by a form of integration, thus it is very robust to noise. Discrete time domain analyses are given for one, two and three input functions for the estimation of the gradients. The amplitude and the frequency of the perturbation are two important parameters for this approach. A quantitative index to measure the effects of the amplitude is developed based on the linear regression analysis. The frequency of the perturbation is to be selected high enough to finish one period of the perturbation before the property is changed significantly with respect to time. Another quantitative index is proposed for guiding the selection of the frequency.

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.506-514
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• 2008

This paper presents an intelligent model; named as free model, approach for a closed-loop system identification using input and output data and its application to design a power system stabilizer (PSS). The free model concept is introduced as an alternative intelligent system technique to design a controller for such dynamic system, which is complex, difficult to know, or unknown, with input and output data only, and it does not require the detail knowledge of mathematical model for the system. In the free model, the data used has incremental forms using backward difference operators. The parameters of the free model can be obtained by simultaneous perturbation stochastic approximation (SPSA) method. A linear transformation is introduced to convert the free model into a linear model so that a conventional linear controller design method can be applied. In this paper, the feasibility of the proposed method is demonstrated in a one-machine infinite bus power system. The linear quadratic regulator (LQR) method is applied to the free model to design a PSS for the system, and compared with the conventional PSS. The proposed SPSA-based LQR controller is robust in different loading conditions and system failures such as the outage of a major transmission line or a three phase to ground fault which causes the change of the system structure.