• 대한전기학회논문지:시스템및제어부문D
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• 제49권8호
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• pp.467-472
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• 2000

A three-level decoupled sliding mode controller is developed to achieve asymptotic stability for a class of sixth-order nonlinear systems. The sixth-order system is decoupled into three subsystems according to the structure of the whole system. Each subsystem has a separate control target in the form of a sliding surface. The information of the third sliding surface is transferred to the second one through an intermediate variable and the information of the second sliding surface is transferred to the first one through another intermediate variable. Consequently, the controller designed on the basis of the first sliding surface can make three subsystems move toward their sliding surfaces, respectively. The three-level decoupled sliding mode controller is applied to the double-inverted pendulum problem where the zero stable states are required.

• 한국자동차공학회논문집
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• 제6권3호
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• pp.11-17
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. the planner tracked vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems, i.e., the chassis subsys- tem and track sub-system. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The recursive kinematic and dynamic formulation module of the vehicle will be developed.

• 한국자동차공학회논문집
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• 제9권1호
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• pp.205-215
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• 2001

In this study, modeling and analysis procedure for the dynamic analysis of a high mobility tracked vehicle system were studied. The vehicle model used in this investigation is assumed to be consist of two kinematically decoupled subsystems. The chassis subsystem consists of chassis frame, sprocket, support rollers, road wheels, idler wheel, road wheel arms and idle wheel arm, while the track subsystem is represented as a closed kinematic chain consisting of track links and end connectors interconnected by revolute joints with bushing. Nonlinear contact force module describing the interaction between track link, and sprocket, idler wheel, road wheel, support roller, ground was used. The effects of road wheel arms and idler wheel arm due to tension adjuster are also considered.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.140-145
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• 1992

This paper presents a decentralized model reference adaptive control scheme for an interconnected linear system composed of a number of single-input single-output subsystems in which outgoing interactions pass through the measurement channel and are subjected to bounded external disturbances. The scheme can treat the unknown strength of interactions as well as uncertainties in subsystem dynamics, and allows for the case when the relative degree of each decoupled subsystem does not exceed two.

• 동력기계공학회지
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• 제18권1호
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• pp.120-127
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• 2014

In this study, Design methods of stabilizing controller for time-delay pure singularly perturbed systems are proposed. Based on the Chang transformation and Lambert W function, we decompose the time-delayed pure singularly perturbed systems into completely decoupled subsystems and derive sufficient stability conditions for $2{\times}2$ time-delayed pure singularly perturbed systems. An illustrated example is presented to demonstrate the validity and applicability of the proposed methods.

• 대한기계학회논문집A
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• 제25권5호
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• pp.834-840
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• 2001

A real time multibody vehicle dynamics model has been developed and implemented using a subsystem synthesis method based on recursive formulation. To verify real time simulation capability the developed model has been applied to HMMWV(High Mobility Multipurpose Wheeled Vehicle) with steering system. For the kinematically driven steering system, the coupled front suspension-steering subsystem can be decoupled into two SLA suspension subsystems, which improves the efficiency of simulation. To investigate theoretical efficiency, operational counting method has been also employed to compare the proposed model with the conventional recursive dynamics model. Various simulations such as unsymmetric bump run, step steering(J-turn) and sine steering input test have been carried out to verify the real time feasibility of the proposed model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• 한국자동차공학회논문집
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• 제6권4호
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• pp.24-31
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. The planar vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems. i.e., the chassis subsystem and track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The nonlinear contact force modules describing the interaction between track links, and sprocket, idler, rollers and ground will be developed.

• 제어로봇시스템학회논문지
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• 제7권7호
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• pp.567-573
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• 2001

A real-time HVAC system is proposed which implements real-time control of thermal environment for virtual reality. It consists of a pair of hot and cold loops that serve as thermal reservoirs, and a mixing box to mix hot and cold air streams flowing if from loops. Their flow rates are controlled in real-time to meet a set temperature and flow rate. A cascade control algorithm along with gain scheduling is applied to the system and test results shows that the closed-loop response approached set values within 3 to 4 seconds.

• Journal of Information Processing Systems
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• 제18권4호
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• pp.510-523
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• 2022

Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.