• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.469-474
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• 2000

A sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback and reduced observer is presented for rotational inverted pendulums. This control strategy overcomes the problem of unattainable velocity state which is resulted from severe noise of analogue sense and constructs numerical algorithms designs of dynamic output feedback sliding mode hyperplane and controller. The result of the experiment shows the superior performance compared with the LQ controller and the robustness with respect to both tapping disturbances and certain initial conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.271-271
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• 2000

This paper considers guaranteed cost output feedback controller for the uncertain time-varying delay systems with delays in state and control input. The uncertainty in the system is assumed to be norm-bounded and time-varying. The sufficient condition for the existence of controller and the guaranteed cost output feedback controller design method are presented. Also, using some changes of variables and Schur complements, the obtained sufficient condition can be reformulated as LMI forms in terms of transformed variables. Using the obtained LMI variables, we derive guaranteed cost controller gain and guaranteed cost.

• 전기학회논문지
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• 제65권12호
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• pp.2053-2056
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• 2016

In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.

• 제어로봇시스템학회논문지
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• 제9권12호
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• pp.977-983
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• 2003

An output feedback stabilizing controller far non-minimum phase nonlinear systems is presented. We first perform the standard input-output linearization of the system and then transform the zero dynamics into a special normal form in which the antistable part is not affected by the stable part and the antistable part is given in approximately linear form. Under the assumption that the nonlinear system satisfies the observability rank condition, we can design an observer f3r the extended system that is made of the augmentation of a chain of integrators. The proposed output feedback stabilizing controller can then be designed by combining the observer and the state feedback controller.

• 전자공학회논문지S
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• 제35S권3호
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• pp.86-92
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• 1998

This paper deals with an output feedback H control problem for linear time ivariant systems with state delay. The proposed output feedback controller is represented by the lower linear fractional transformation of alinear time invariant system and a delay operator. Sufficient conditions for the existence of the output feedback controller are given in the form of linear matrix inequalities which are less conservative than those for the existence of a rational output feedback controler. We also present a numerical example to demonstrate the efficacy of the proposed method.of the proposed method.

• 대한전기학회논문지
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• 제45권2호
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• pp.273-282
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• 1996

This work is conceded with the estimation of output derivatives and their use for the design of robust controller for linear systems with system uncertainties due to modeling errors and disturbances. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties and known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted through restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Control)type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.144-155
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• 2004

This paper addresses the issue of position control of a chain of multiple mass-spring-damper (CMMSD) units which can be found in many physical systems. The dynamic model of a CMMSD system with any degrees of freedom is expressed in a closed-form for the convenience of the controller design. Backstepping and model reference adaptive control (MRAC) approaches are then used to develop two adaptive output feedback controllers to control the position of a CMMSD system. The proposed controllers rely on the measurements of the input (force) and the output (position of the mass unit at the end of the chain) of the system without the knowledge of its parameters and internal states. Simulations are used to verify the effectiveness of the controllers

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.381-384
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• 2008

In this paper, we consider the problem of designing decentralized sliding mode static output feedback control laws for a class of large scale systems with mismatched uncertainties. We derive a sufficient condition for the existence of a linear switching surface in terms of constrained linear matrix inequalities(LMIs), and we parameterize the linear switching surfaces in terms of the solution matrices to the given constrained LMI existence conditions. We also give an LMI-based algorithm for designing decentralized switching feedback control laws. Finally, we give a design example in order to show the effectiveness of our method.

• 전력전자학회논문지
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• 제4권2호
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• pp.175-183
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• 1999

PWM 컨버터에서 직류출력전압의 빠른 응답을 위해 입력 및 출력의 전력평형개념을 시스템 모델링에 도입하는 것이 바람직하다. 이 경우 시스템은 비선형이 되며 제어기 설계가 용이하지 않다. 본 논문에서는 입출력 궤환선형화 기법을 응용하여 시스템의 비선형성을 제거하였으며 그 결과 빠른 전압응답특성을 얻을 수 있었다. 또한 작은 용량의 전해커패시터를 사용하더라도 부하변동에 대해 직류출력전압을 일정하게 유지하는 것이 가능함을 보였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.675-676
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• 2013