• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.8
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• pp.651-657
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• 2003

A new mechanical-electrical hybrid passive damping treatment is proposed to improve the performance of structural vibration control. The proposed hybrid passive damping system consists of a constrained layer damping treatment and a shunt circuit. In a passive mechanical constrained layer damping, a viscoelastic material damping layer is used to control the structural vibration modes in high frequency range. The passive electrical damping is designed for targeting the nitration amplitude in the low frequency range. The governing equations of motion are derived through the Hamilton's principle. The obtained mathematical model Is validated experimentally. The presented theoretical and experimental techniques provide invaluable tools for controlling the multiple modes of a vibrating structure over a wide frequency band.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.362-367
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• 2003

A new mechanical-electrical hybrid passive dam ping treatment is proposed to improve the performance of structural vibration control. The proposed hybrid passive damping system consists of a constrained layer damping treatment and a shunt circuit. In a passive mechanical constrained layer damping, a viscoelastic material damping layer is used to control the structural vibration modes in high frequency range. The passive electrical damping is designed for targeting the vibration amplitude in the low frequency range. The governing equations of motion are derived through the Hamilton's principle. The obtained mathematical model is validated experimentally. The presented theoretical and experimental techniques provide invaluable tools for controlling the multiple modes of a vibrating structure over a wide frequency band.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.289-297
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• 2004

This paper deals with the design and control of passive multiple trailer systems for practical applications. Due to the cost and complexity of the trailer mechanism, passive systems are preferred to active systems in this research. The design and control objective is to minimize the trajectory tracking errors occurring in passive multiple trailers. Three sorts of passive trailer systems, off-hooked, direct-hooked, and three-point, are discussed in this paper. Trajectory tracking performance and stability issues under constant curvature reference trajectories are investigated for these three types. As well, various simulations and experiments have been performed for each type. It is shown that the proposed off-hooked trailer system produces a tracking performance that is superior to the others.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.18 no.4
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• pp.124-130
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• 2004

In this paper, we developed DSP(Digital Signal Processor)-based control system to automatically open and close passive filter, which is used to reduce harmonics, according to operating condition of loads. Passive filter control system automatically open and close each branch of filter according to working conditions of loads by sending signals to open and close installation of passive filter after measuring and monitoring voltage, current, harmonics, reactive power, power factor and so on. We verified it's performance by connecting control system with passive filter in the power line using the 100HP D.C motor drive, opening and closing passive filter according to operation condition of motor, and measuring harmonics and reactive power, etc.

• Journal of the Korean Society of Safety
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• v.32 no.6
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• pp.81-88
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• 2017

This study deals with the optimal design of a hybrid control system composed of a combination of active control system and passive control system for effective seismic performance improvement of two adjacent structures. The proposed hybrid control system adopts a configuration of installing an active control device in one building and connecting two adjacent structures with a passive control device so that the one-side active control force can be bi-directionally applied to both buildings through the passive connecting devices. In order to derive the optimal performance of the proposed system, the design parameters of the passive and active control systems were searched using the genetic algorithm. Numerical simulations of 10-story and 8-story buildings have been performed to verify the effectiveness of the proposed technique. For the purpose of comparison, the conventional independent control system with two identical active control systems being installed separately for each structure was also optimally designed and its seismic response has been evaluated as well. From the comparative results of the two control systems, it is demonstrated that the proposed hybrid control system requires larger control force for its one-side active control device than the conventional independent control system does for each of both-side active devices, but quite less than the total control force required for both-side devices of the independent control system, while maintaining similar seismic performance. Therefore, the proposed system is more economical and reliable than the conventional independent control system with two identical active devices.

• KIEE International Transactions on Power Engineering
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• v.4A no.3
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• pp.152-158
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• 2004

The passive filter is economic and efficient in suppressing harmonics but it may cause resonance problems and its performance is constantly dependent on power system impedance or working conditions of loads. This paper presents the DSP (Digital Signal Processor)-based control system, which automatically controls the passive filter in order to solve these problems. The control system can automatically control the passive filter according to working conditions of loads and measured harmonics, reactive power, power factor and so on. Experimental results in the power system using the 100HP DC motor drive are presented in order to verify the performance of the control system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1229-1232
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• 1996

This paper proposes the passive redundancy algorithm of multi-controller structure applicable to the steam generator level control system in the low power operating range. In the passive redundancy scheme of multi-controller structure, two suitable controllers exist if the plant is strongly stabilizable. One of the two controllers can be selected arbitrarily only if it is stable. In particular, this paper shows that the passive redundancy scheme can be efficiently used with PID and GPC control algorithms through simulation studies on the control of the steam generator.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

• Structural Engineering and Mechanics
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• v.46 no.4
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• pp.549-569
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• 2013

A passive control using flaps will be an alternative solution for flutter stability and buffeting response of a long suspension bridge. This method not only enables a lightweight economic stiffening girder without an additional stiffness for aerodynamic stability but also avoid the problems from the malfunctions of control systems and energy supply system of an active control by winglets and flaps. A time domain approach for predicting the coupled flutter and buffeting response of bridge deck with flaps is investigated. First, the flutter derivatives of bridge deck and flaps are found by experiment. Next, the derivation of time domain model of self-excited forces and control forces of sectional model is reported by using the rational function approximation. Finally, the effectiveness of passive flap control is investigated by the numerical simulation. The results show that the passive control by using flaps can increase the flutter speed and decrease the buffeting response. The experiment results are matched with numerical ones.