• 한국지능시스템학회논문지
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• 제22권1호
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• pp.69-74
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• 2012

본 논문에서는 무게중심 변동이 존재하는 차륜형 역진자가 경사면을 주행하는 경우에 대한 일반적인 운동방정식이 유도되었고 기존 역진자와의 차별점들이 고찰되었다. 차륜형 역진자는 점유면적이 작은 특성 때문에 협소한 장소에서 운용되는 다양한 분야에서 이동 플랫폼으로 채용되고 있다. 차륜형 역진자는 기존 역진자의 불안정한 특성을 그대로 계승하고 있으며, 넘어지지 않고 직립하게 위해서 지속적인 제어가 실행되어야 한다. 차륜형 역진자용 고성능 제어기를 설계하기 위해서는 다양한 환경과 운용조건에서 동작하는 차륜형 역진자를 대상으로 하는 운동방정식과 그 특성을 고려하는 것은 필수적이다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권4호
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• pp.267-273
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• 2007

This paper presents the implementation of an educational kit for intelligent system control education. Neural network control algorithms are presented and control hardware is embedded to control the inverted pendulum system. The RBF network and the MLP network are implemented and embedded on the DSP 2812 chip and other necessary functions are embedded on an FPGA chip. Experimental studies are conducted to compare performances of two neural control methods. The intelligent control educational kit(ICEK) is implemented with the inverted pendulum system whose movements of the cart is limited by space. Experimental results show that the neural controllers can manage to control both the angle and the position of the inverted pendulum systems within a limited distance. Performances of the RCT and the FEL control method are compared as well.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
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• pp.164-167
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• 2004

In the paper is proposed a hierarchical adaptive fuzzy controller for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the hierarchical adaptive fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing, a forced disturbance generator which emulates heuristic control strategy, and a supervisory decision maker for the arbitration of two control objectives It is proved that all the signals in the overall system are bounded. Simulation results are given to verify the proposed adapt i ye fuzzy control method.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1579-1589
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• 2013

We provide a step-by-step, easy-to-follow procedure for the method of controlled Lagrangian systems. We apply this procedure to solve the energy shaping problem for four benchmark examples: the inertial wheel pendulum, an inverted pendulum on a cart, the system of ball and beam and the Furuta pendulum.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.360-365
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• 2003

In this paper, we have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers on a single chip are implemented as a system-on-chip for multi-axis motion control. We also develop a PC GUI for an efficient interface control. Comparing with the commercial motion controller LM 629 it has multi-independent PID controllers so that it has several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, robot finger is controlled. The robot finger has three fingers with 2 joints each. Finger movements show that position tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.73-80
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• 2004

We have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers and GUI are implemented as a system-on-chip for multi-axis motion control. Comparing with the commercial motion controller LM 629, since it has multi-independent PID controllers, we have several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, motion of the robot hand is controlled. The robot hand has three fingers with 2 joints each. Finger movements show that tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권2호
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• pp.154-160
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• 2009

A control system composed of two fuzzy controllers is proposed to balance the pole as well as to move the cart to the center of the track of the cartpole system. The two fuzzy controllers are designed with 2 input variables respectively and their control characters are studied in order to devise a control scheme that alternates the two fuzzy controllers. It is found that the control system using the scheme works well even though there is some residual oscillations of the pole and the cart.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.45.1-45
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• 2002

$\textbullet$ Introduction $\textbullet$ Takagi-Sugeno Fuzzy Model and Sliding Mode Controller $\textbullet$ Observer and Controller Design $\textbullet$ Simulations $\textbullet$ References

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.346-352
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• 2006

In a networked control system (NCS), time delays which are larger than one sampling period can change the control period. As a result, it may cause system instability. This paper presents a control method for an NCS using the controller area network (CAN), where time delays arise in the control loop. Specifically, a simple yet efficient method is proposed to improve control performance in the presence of time delays. The proposed method, which can be regarded as a gain scheduling method, selects a suitable LQ control gain among several gains to deal with the problems due to the change of control period. It is found that the gain can be scheduled in terms of the relation between the gain and the sampling period, which is represented by first-order algebraic equations. The proposed method is evaluated with an inverted cart pendulum system where the actuator and sensors are connected through the CAN. Experiment results are presented to show the efficiency of the proposed method.

• Journal of Advanced Marine Engineering and Technology
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• 제34권2호
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• pp.310-317
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• 2010

본 논문은 전형적 비선형 시스템인 셀프 이렉팅 도립진자 시스템의 스윙업과 안정화에 대한 제어 방법을 제안한다. 펜던트 상태의 진자를 PV 제어기를 이용하여 스윙업 시키고, 진자가 적절한 위치에 도달했을 경우 PI형 상태피드백 제어기로 스위칭하여 진자가 넘어지지 않게 유지시키도록 한다. 시뮬레이션을 통하여 제안한 제어기법의 유효성을 확인한다.