• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1496-1499
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• 1996

A nonlinear tracking control technique developed for the control of nonlinear systems has been applied to the autopilot design of missile system. The difficulties in the application of inversion based control methods such as input-output feedback linearization and sliding mode control due to nonminimum phase characteristics are discussed. To avoid the stability problem associated with unstable zero dynamics, the input-output feedback linearization is applied with output-redefinition method to normal acceleration control. The output-redefinition method gives an indirect way to apply the nonlinear controls to nonminimum phase plants by redefining the plant output such that the tracking control of the modified output ensures the asymptotic tracking of the original output. The numerical simulation shows satisfactory results both for nominal and for slightly perturbed missile systems adopting the sliding mode control technique. However, the robustness problem in this method is briefly investigated and verified with the simulation.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.2_1
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• pp.161-168
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• 2022

This study proposed a new approach to impliment a robusut control of comsumer-friendly flexible manipulator with five joint for untact working in filed work-site. The output redefinition approach was used to overcome the non minimum phase characteristic of the system. The new output is defined so that the zero dynamics related to this output are stable. The control strategy is based on an computed torque method which is applicable to a class of time-invariamt phase linear systems whose uncertainties appear in output loop stable. The controller is composed of a stabilizing joint controller and an output redefinition tracking controller. Experimental results are also presented to verify the effectiveness of the proposed control scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.329-334
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• 2010

This paper presents the design of a neural network based adaptive control for missile. Acceleration of missile by tail fin control cannot be controllable by DMI (Dynamic Model Inversion) directly because it is non-minimum phase system. To avoid the non-minimum phase system, dynamic model inversion is applied with output-redefinition method. In order to evaluate performance of the suggested controllers we selected the three cases such as control surface fail, control surface loss and wing loss for model uncertainty. The corresponding aerodynamic databases to the failure cases were calculated by using the Missile DATACOM. Using a high fidelity 6DOF simulation program of the missile the performance was evaluates.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.308-317
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• 2006

To control the tip position of a flexible-link manipulator, a neural network (NN) controller is proposed in this paper. The dynamics error used to construct NN controller is derived based on output redefinition approach. Without the filtered tracking error, the proposed NN controller can still guarantee the closed-loop system uniformly asymptotically stable as well as NN weights bounded. Furthermore, the tracking error of desired trajectory can converge to zero with the proposed controller. For comparison an NN controller with filtered tracking error is also designed for the flexible-link manipulator. Finally, simulation studies are carried out to verify the theoretic results.

• Spatial Information Research
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• v.14 no.3 s.38
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• pp.299-319
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• 2006

This research is primarily intended to investigate the potential of estimating green space threshold in terms of total volume control using degradation trends of green space derived from remote sensing and GIS. An empirical study for a case study site was conducted to demonstrate how a standard remote sensing and GIS technology can be used to assist in estimating the total control volume for green space in terms of area-wide information, spatial resolution and change detection etc. Guidelines for a replicable methodology are presented to provide a strong theoretical basis for the standardization of factors involved in the estimation of the green space threshold; the meaningful definition of land mosaic, redefinition of degradation trends for green space. It was demonstrated that the degradation trends of green space could be used effectively as an indicator to restrict further development of the sites since the visual maps generated from remote sensing and GIS can present area-wide visual evidences by permanent record. It is anticipated that this research output could be used as a valuable reference to support more scientific and objective decision-making in introducing aggregate control of green space.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.78-83
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• 2011

Traditional autopilot design requires an accurate aerodynamic model and relies on a gain schedule to account for system nonlinearities. This paper presents the control architecture applied to a dynamic model inversion at a single flight condition with an on-line neural network (NN) in order to regulate errors caused by approximate inversion. This eliminates the need for an extensive design process and accurate aerodynamic data. The simulation results using a developed full nonlinear 6 degree of freedom model are presented. This paper also presents the stability evaluation for control systems to which NNs were applied. Although feedback can accommodate uncertainty to meet system performance specifications, uncertainty can also affect the stability of the control system. The importance of robustness has long been recognized and stability margins were developed to quantify it. However, the traditional stability margin techniques based on linear control theory can not be applied to control systems upon which a representative non-linear control method, such as NNs, has been applied. This paper presents an alternative stability margin technique for NNs applied to control systems based on the system responses to an inserted gain multiplier or time delay element.

• Journal of Korea Multimedia Society
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• v.1 no.2
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• pp.224-238
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• 1998

The EMFG (Extended Mark Flow Graph) is not only a powerful tool for designing the discrete-event system conceptually or specifically but also a good representation tool for implementing the system directly. But it is difficult to design or analyze the system because the impossibility of mathematical analysis results from some complicated representation of the EMFG. In this paper, therefore we redefined EMFG representations to provide the possibility of mathematical analysis, and employed an output inhibit are of a transition, which makes possible the adequate representations for the indescribable parts. We also solved trouble parts in the circuit translations of the EMFG and proposed the circuit translation method by using the mathematical formula. Finally, we compared the conventional EMFG with the redefined EMFG, and we designed a 0101 detecter with the redefined EMFG and translated it to the corresponding circuit.