• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04b
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• pp.218-222
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• 1993

A sliding mode controller associated with the moving sliding surface is formulate for the tip position control of a single-link flexible manipulator. After establishing the plant model which characterizes a noncollocated control system, a discontinuous control law is then constructed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase without increasing maximum control torque. Furthermore, a low sensitiveness to extraneous disturbance is obtained. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2248-2250
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• 2004

본 논문에서는 유연한 단일링크 매니퓰레이터의 끝단 위치 추적제어를 위해 웨이블렛 신경망을 이용한 강인 적응제어기를 제안한다. 전체 제어기는 웨이블렛 신경망에 의해 추정된 피드백 선형화 제어기와 그 추정오차를 보상하기 위한 보상제어기로 구성된다. 시스템의 출력값은 최소위상을 보장하기 위하여 재정의하여 사용된다. 구성된 웨이블렛 신경망의 연결 가중치는 Lyapunov 안정도 이론에 기초해서 조절된다. 제안된 제어기의 성능 향상은 PD 제어기와 비교함으로써 입증된다.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.22-31
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• 1999

In this paper, a robust observer design method for nonlinear multi input multi-output(MINO) plants is presented. This method enables the extension of the time delay observer (TDO) for nonlinear SISO plants in the phase variable form to MIMO plants. The designed TDO reconstructs the states of the plant expressed in the generalized observability canonical form (GOBCF), yet requiring neither the transformation of a plant, nor the real time computation coordinates, the observer turned out to be computationally efficient and easy to design for nonlinear MIMO plants. In a simulation of a two-link manipulator with flexible joints, the control performances using TDO appeared to be similar to those using actual states and superior to those using numerical differentiation. Finally, in an experiment with a robot, it was confirmed that the TDO reconstructs the states reliability and TDO can be effectively used in a real closed-loop system.