• 한국정밀공학회지
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• 제17권3호
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• pp.90-101
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• 2000

In this paper, we propose a controller for differentially steered wheeled mobile robots. The controller uses input-output linearization algorithm and artificial neural network to stabilize the dynamic model and compensate uncertainties. The proposed neural network part has 6 inputs, 1 hidden layer, 2 torque outputs and features fast online learning and good performance on structure error learning basis. Simulation results show that the proposed controller perform precisely tracking of reference path and is robust to uncertainties.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.291-294
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• 2006

This paper presents a decentralized input-output feedback linearizing controller for a multi-machine power system. Firstly, the controller is designed using input-output feedback linearization for modified outputs. Then we present a guideline for selecting gains of the controller and parameters in the modified outputs. Simulations illustrate the effectiveness of the proposed control scheme and the selection guideline.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1124-1127
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• 1996

Asymmetric cylinders are usually used as an actuator of active suspensions. Since the force is influenced not only by the control but by the road roughness, force control is needed to track the desired force. But the conventional error feedback control treats the valve-cylinder dynamics at its operating point and many use the symmetric model which differ in all respects. We adopt an asymmetric cylinder model and apply a feedback linearization method for the force control to compensate both the valve nonlinearities and the effects of the road roughness.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.172.3-172
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• 2001

In this paper, we find the necessary and sufficient conditions of linearization of nonlinear discrete-time systems with 2 inputs using the restricted class of dynamic feedback. That is, this paper is the discrete version of [2]. The results we obtain for discrete-time nonlinear systems are, however, quite different from that of continuous-time case.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.52.2-52
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• 2002

In this paper we consider an approach to a formal linearization for time-variant nonlinear systems. A time-variant nonlinear sysetm is assumed to be described by a time-variant nonlinear differential equation. For this system, we introduce a coordinate transformation function which is composed of the Chebyshev polynomials. Using Chebyshev expansion to the state variable and Laguerre expansion to the time variable, the time-variant nonlinear sysetm is transformed into the time-variant linear one with respect to the above transformation function. As an application, we synthesize a time-variant nonlinear observer. Numerical experiments are included to demonstrate the validity of...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.76.5-76
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• 2002

In this paper, we provide a Nash solution to predictive control problem for nonminimum phase singular nonlinear systems. Until now, there is no result on predictive control problem for this class of nonlinear systems. Chen's recent work considered predictive control problem for a class of nonlinear systems with ill-defined relative degree. Since his work is not a result considered in the feedback linearization framework, there is no a result on singular probem in his paper. In contrast to the existing predictive control result, our work considers two main obstacles (singularity and nonminimum phase) in the feedback linearization framework. For a generally formu...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.939-942
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• 1989

Most of systems are included nonlinear characteristics in practice. One might be faced with difficulties when problems of nonlinear systems are solved. In this paper we present a formal linearization method of nonlinear systems by using the trigonometric Fourier expansion on the state space considering easy inversion. An error bound, an application, and a compensation of this method are also investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1081-1084
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• 1991

A technique of indirect adaptive control based on certainty equivalence for input output linearization of nonlinear system is proven convergent by Teel. It incorporates an adaptive observer for identifying unknown system states and parameters and input-output linearizing controller for robust tracking. In this study, we show that robustness and tracking performances are improved considerably by using its normalized form of Teel's observer-based identifier. Simple examples are presented as illustration.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2005년도 후기학술대회논문집
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• pp.45-46
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• 2005

In this paper, a passive telemetry sensor system using Unscented Kalman Filter(UKF) is proposed. Specially, to show the effective tracking performance of the UKF, we compared with the tracking performance of Recursive Least Square Estimation (RLSE) using linearization.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.231-235
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• 1995

In this paper, the frozen time approach is used to analyze the nonlinear system with time varying parameter. Using the extended linearization, we propose two analytical methods that compute an upper bound of the Euclidean norm of the difference between state variable and equilibrium point of the given system. The propertise of the two methods are discussed with simple examples.