• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.878-883
• /
• 1990

There have been many approaches to solve the disturbance rejection problem in the control of LTI systems with state independent disturbances or possibly nonlinear state dependent disturbances. From the view point of each actuator, robot manipulators can be modeled as the second class of systems. With this model, M.Nakao et al. [1] introduced a decentralized control scheme based on interference estimation which is simple in its implementation and robust to the coupled dynamics and parameter variations. This paper systematically generalizes the control scheme to arbitrary finite dimensional LTI systems with disturbances. In doing so, we develop a disturbance observer theory for solving the disturbance rejection problem. We also present a discrete version of the theory with discussion of sampling and time-delay effects.

• Transactions on Control, Automation and Systems Engineering
• /
• 제4권4호
• /
• pp.270-276
• /
• 2002

An integrated robust fault diagnosis and fault accommodation strategy for a class of linear stochastic systems subjected to unknown disturbances is presented under the assumption that only a single fault may occur at a given time. The strategy is based on the fault isolation and estimation using a bank of robust two-stage Kalman filters and introduction of the additive compensation input for cancelling out the fault's effect on the system. Each filter is set up such that the residual is decoupled from unknown disturbances and fault with the influence vector designed in the filter. Simulation results for the simplified longitudinal flight control system with parameter uncertainties, process and sensor noises demonstrate the effectiveness of the present approach.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
• /
• pp.39-42
• /
• 2000

In this paper we design the robust impedance controller of the robot manipulator with time delay. The designed controller considers time delay in the position loop and stabilizes the closed-loop system. The performance of a controller can be easily degraded by external disturbances. To improve the performance when external disturbances exist, we use the disturbance observer to handle the disturbances in the velocity loop and provide robustness to the control system. To show the validity of the designed controller, several experiments are performed for the 5-DOF robot manipulator equipped with the wrist force/torque sensor system.

• Journal of Electrical Engineering and Technology
• /
• 제8권3호
• /
• pp.472-477
• /
• 2013

An internet-based, real-time GPS synchronized wide-area power system frequency monitoring network(FNET) has been monitoring wide-area power system frequency in continuous time in the United States. This paper analyzes the FNET measurement to the verified disturbances in the US eastern interconnected power system and simulates it using the dynamic system model. By comparing the frequency measurements with its simulation results to the same disturbances in detail, this paper finds that the sequence of monitoring points to detect the frequency fluctuation caused by the disturbances is matched well in the measured data and the simulation results. The similarity comparison index is also proposed to quantify the similarity of the compared cases. The dynamic model based simulation result is expected to compensate for the lack of FNET measurement in its applications.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.374-374
• /
• 2000

In this paper, we developed an ANFIS controller through ES algorithm for disturbances rejection in Hot Rolling. The looper of a Hot Rolling is installed between each pair of stands and plays key roles to enhance the product quality of the strip by controlling the tension and the width of the strip. At the same time, the AGC on top of the Mill produces a strip with the desired thickness through pressing its Mill. Between both, however, interactions are caused by coupling effects among strip tension, looper angle and strip thickness. In addition, in case disturbances, it is more difficult to keep strip quantities desirable. So we present an ANFIS controller through ES algorithm which is able to identify fuzzy rule with input/output data and update itself through output errors.

• Clinical and Experimental Pediatrics
• /
• 제50권3호
• /
• pp.230-235
• /
• 2007

In the early neonatal period, the neonate is challenged by the loss of the placental calcium transport and manifests a quick transition, from an environment in which PTHrP plays an important role to a PTH- and 1,25-dihydroxyvitamin D-controlled neonatal milieu. Disturbances in mineral homeostasis are common in the neonatal period, especially in premature infants and infants who are hospitalized in an intensive care unit. In many cases these disturbances are thought to be exaggerated responses to the normal physiological transition from the intrauterine environment to neonatal independence. Some disturbances in calcium and phosphate homeostasis are the result of genetic defects, which in many instances can now be identified at the molecular level. Although fetus develop remarkably normally in the presence of maternal calcium, PTH and vitamin D deficiency, the neonates demonstrate abnormalities that are consequences of the prior abnormal maternal calcium homeostasis. Evaluation and management of hypocalcemia and hypercalcemia in neonate requires specific knowledge of perinatal mineral physiology and the unique clinical and biochemical features of newborn mineral metabolism.

• 수면정신생리
• /
• 제18권2호
• /
• pp.67-71
• /
• 2011

Schizophrenia is a chronic, currently incurable, and devastating syndrome. Although sleep disturbances are not primary symptoms of schizophrenia, they are important aspects of schizophrenia. Difficulties initiating or maintaining sleep are frequently encountered in patients with schizophrenia. Many schizophrenics report low subjective sleep quality. Measured by polysomnography, increased sleep latency as well as reduced total sleep time, sleep efficiency, slow wave sleep, and rapid eye movement sleep latency (REM latency), are found in most patients with schizophrenia and appear to be an important aspect of the pathophysiology of this disorder. Some literatures suggest that worsening sleep quality precedes schizophrenic exacerbations. Co-morbid sleep disorders such as obstructive sleep apnea (OSA) and restless legs syndrome (RLS), and sleep-disrupting behaviors associated with schizophrenia may lead to sleep disturbances. Clinicians should screen the patient with sleep complaints for primary sleep disorders like OSA and RLS, and carefully evaluate sleep hygiene behaviors of all patients with schizophrenia who complain of sleep disturbances.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제50권3호
• /
• pp.114-119
• /
• 2001

An automatic train operation(ATO) system executes the operation of constant speed travelling and fixed point parking by using microprocessors instead of driver's manual operation. This paper describes the mathematical model for the train considering unknown disturbances which consist of start resistance, travelling resistance, slope resistance, curve resistance, and so on. The speed controller of ATO system is designed by considering the disturbances. The simulation is executed to verify the speed control and fixed point parking performance and to compare its performance with that of a PID-type ATO control system under disturbances. Simulation results show that the control performance of gain scheduled control scheme for ATO system is better than that of the conventional PID controller.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제11권2호
• /
• pp.851-857
• /
• 2019

A new robust sliding mode control with disturbance and state observers has been proposed to control the nozzle angle of a water-jet system for a Unmanned Surface Vehicle (USV). As the water-jet system of a ship is subjected to direct disturbances owing to the exposure to the marine environment in water, it requires a robust control. A state observer and a disturbance observer are added to the water jet nozzle control system to achieve a robust control against disturbances. To verify the performance of the proposed algorithm, a test bed is constructed by a propulsion system used in the popular USV. This proposed algorithm has been evaluated by comparing to the existing algorithm through experiments. The results show that the performance of the proposed algorithm is better than that of the conventional PID or sliding mode controller when controlling the steering of the USV with disturbances.

• 대한기계학회논문집A
• /
• 제30권10호
• /
• pp.1249-1254
• /
• 2006

Existing adaptive observers may cause the parameter drifts due to disturbances even if state estimation errors remain small. To avoid the drift phenomena in the presence of bounded disturbances, several robust adaptive observers have been introduced addressing bounds in state and parameter estimates. However, it is not easy for these observers to manipulate the size of the bounds with the selection of the observer gain. In order to reduce estimation errors, this paper introduces the (equation omitted) gain minimization problem in the adaptive observer structure, which minimizes the (equation omitted) gain between disturbances and estimation errors. The stability condition of the adaptive observer is reformulated as a linear matrix inequality, and the observer gain is optimally chosen by solving the convex optimization problem. The estimation performance is demonstrated through a numerical example.