• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.742-744
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• 1995

In position control system using variable structure control, the velocity of control object is controlled to approach the desired specified velocity patterns, and eventually the position of control object is correctly at reference position. Here, this intention can be success by means of variable structure control. In this paper, the PI velocity feedback control is also used sliding mode controller. The design of position controller under specified velocity profiles in variable structure control's constraints is studied.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.828-833
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• 2003

Rigid plate elastically supported at the edges is modeled and the performance of the optimal vibration control under sinusoidal excitation is tested. The controller based on the linear quadratic regulator with output feedback is designed to control the multi-degree of freedom vibration. Relative weighting parameters are considered as design constraints to determine the limitation of maximum control force and state parameters. Control force calculated by proportional output feedback of the displacement and velocity is used to suppress the vibration induced by the sinusoidal external force. The active vibration control of vibrating plate by the LQR controller is examined through the numerical simulations that show the effectiveness of optimal control scheme on the three degrees of freedom structure.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.631-636
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• 1987

The design of ultrasonic transducer energy processing systems requires highly reliable command featuring mechanical frequency tracking and constant velocity control of the ultrasonic transducer with an acoustic load. This paper presents a new conceptional instantaneous current resultant control base high-frequency inverter using self turn-off devices driving an electrostrictive ultrasonic transducer system and its optimum control technique, which is implemented by feed-back of the ultrasonic transducer applied voltage and instantaneous velocity of the transducer vibrating system through a Phase-Locked-Loop control scheme. The feedback voltage corresponding to instantaneous velocity is averaged over a half-period with respect to constant amplitude/constant velocity control strategy. Described are the theory of this signal detection technique and the experimental set-up.

• Journal of Ocean Engineering and Technology
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• v.9 no.2
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• pp.30-40
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• 1995

In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.

• Physical Therapy Rehabilitation Science
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• v.12 no.3
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• pp.214-221
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• 2023

Objective: This study aimed to assess the impact of using the LED light electromyographyfeedback system (EMG-light) during Pilates exercises in women to maintain consistent muscle contraction in the abdominal external oblique muscles and reduce muscle contraction in the upper trapezius muscles. This study compared Pilates training using the EMG-light with Pilates training only in healthy women for 4 weeks. Design: This study was conducted as a cross-sectional study. Methods: A total of 17 healthy women were divided into an experimental group (n=9) and a control group (n=8). Both groups performed Pilates exercises as assigned, twice per week for four weeks, with each session lasting fifty minutes. The experimental group were used the EMG-light feedback system during pilates exercise while the control group did not use EMG-light. We used cervical vertebral angle (CVA), shoulder tilt angle to evaluate neck posture and standing balance with closed eye for 30s before and after exercise. Results: The control group exhibited a significant change in CVA (p<0.05). Both groups showed significant changes in shoulder tilt, center of pressure (COP) path-length, and COP velocity during eyes-closed conditions (p<0.05). However, there were significant differences between the experimental and control groups in terms of CVA, shoulder tilt, COP path-length, and COP velocity. Conclusions: This study demonstrated that Pilates exercises had positive effects on shoulder posture and balance. The use of EMG-light provided real-time visual feedback on muscle contraction during Pilates exercise. However, the experimental group did not show significant improvements compared to the control group, which performed Pilates exercises without feedback.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.104.4-104
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• 2002

$\textbullet$ Contents 1 : PD control of an elastic joint robot $\textbullet$ Contents 2 Dynamic output feedback law without velocity measurements $\textbullet$ Contents 3 : Robust analysis for parameter uncertainties of the robot system $\textbullet$ Contents 4 : Simulation studies with a three joint robot system $\textbullet$ Contents 5 : Performance comparison with an another control law

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.90.5-90
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• 2002

In this research, we are trying to develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and plank. So we will make a suitable dynamic model and mechanism to control the velocity feedback. We will suggest stick-slip motion model which can predict the stability behavior of this system. The control system has a feedback loop, in which the following operations are included. A kind of sensor can get the velocity of the mass to adhesive veneer. The output of result signal should be passed to a filter, then to a phase shifter, which applies an adjustable phase-shift, to a variable-gain amplifier. A shaker will be attached to the mass, which ex...

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.6
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• pp.486-494
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• 2004

This paper addresses the dynamic modeling and closed-loop eigenvibration analysis of composite rotating pretwisted fan blade modeled as non-uniform thin-walled beam with bi-convex cross-section fixed at the certain presetting angle and incorporating piezoelectric induced damping capabilities. The blade model incorporates non-classical features such as transverse shear, rotary inertia and includes the centrifugal and Coriolis force field. A velocity feedback control law relating the piezoelectiriccally induced transversal bending moment at the beam tip with the appropriately selected kinematical response quantity is used and the beneficial effects upon the closed loop eigenvibration of the blade are highlighted.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.113-117
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• 2002

PID controllers, which have been widely used in industry, have a simple structure and robustness to modeling error. But it is difficult to have uniformly good control performance in system parameters variation or different velocity command. In this paper, we propose a nonlinear adaptive PR controller based on an Immune feedback mechanism and a gradient descent teaming. This algorithm has a simple structure and robustness to system parameters variation. To verify performances of the proposed nonlinear adaptive PID controller, the speed control of nonlinear DC motor Is peformed. The simulation results show that the proposed control systems are effective in tracking a command velocity under system parameters variation

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.731-737
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• 2013

In this paper, we propose an image-based output feedback robust controller of robot manipulators which have bounded parametric uncertainty. The proposed controller contains an integral action and high-gain observer in order to improve steady state error of joint position and performance deterioration due to measurement errors of joint velocity. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by simulations on a 5-link robot manipulators with two degrees of freedom.