• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.10
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• pp.842-850
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• 2014

This paper presents a trajectory tracking controller for rotorcraft UAVs to improve the tracking performances in the presence of various uncertainties. The proposed tracking method consists of a velocity guidance law based on the relative distance and L1 adaptive augmentation loop for tracking the velocity commands. In the proposed structure, the desired velocity generated by the guidance law is the reference value of the adaptive controller for accurate path tracking. In the guidance law, the desired acceleration is generated based on the relative distance and its derivatives, and then the velocity command of the inner control loop is calculated by integrating the accelerations. $L_1$ augmentation loop supplements the linear controller to guarantee the flight performances such as a tracking accuracy in the presence of the uncertainties. The proposed controller was validated in actual flight tests to successfully demonstrate its capability using a quadrotor UAV.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2473-2475
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• 2001

In trajectory tracking methods, the error values of current position and velocity are compensated to follow the given reference path and velocity. The path tracking for a wheeled mobile robot is treated in this paper. It is very difficult to implement stable trajectory tracking algorithms because mobile robots have kinematically non-holonomic constraints. For solving this problem, a velocity controller is presented in this paper. This velocity controller is designed by a PID controller which could be easily employed. In this case, velocity errors caused by system uncertainties or internal and external disturbances could exist. A neural network is used for compensating the velocity errors. Input variables of this neural network compensator are defined by differences between the velocities of the posture controller and the real velocities of the mobile robot. Simulation results show the effectiveness of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.194-199
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• 1989

In this paper, using the direct drive arm for plant, the controller is developed to track the desired trajectory in high speed and precision. For the purpose of this, through extending self-tuning pole-placement algorithm, we developed self-tuning pole-shift algorithm which is fast in response and good tracking for the reference tracking change. Developed controller is applied a three-link direct drive arm with the varing payload to track the desired tracking. And, through the computer simulation, the performance of developed controller is compared with the performance of the computed torque method and the self-tuning pole placement algorith.

• Journal of Ocean Engineering and Technology
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• v.9 no.2
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• pp.30-40
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• 1995

In this paper, it is proposed a robust control scheme for real time control of a robot manipulator with parameter uncertainties. The focus of this paper is a new approach of multivariable control schemes for an assembly robot manipulator to achieve the accurate trajectory tracking by joint angles. The proposed control scheme consists of a multivariable feedforward controller and feedback controller. In this control scheme, the feedback controller consists of proportional-derivative type and is designed by the pole placement method. The feedforward controller uses the inverse of the linealized model of robot manipulator dynamics. This feedback controller ensures that each joint enables to track any reference trajectory. The proposed robot controller scheme has a computational efficiency.

• Journal of Power Electronics
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• v.13 no.1
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• pp.51-58
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• 2013

This paper proposes the power conversion mechanism of a bailer-charge-transfer zero-current-switching (CT-ZCS) circuit. The operation modes are analyzed and researched using state trajectory equations. The topology of CT-ZCS based on soft-switching inverters offers some merits such as: tracking the input reference signal dynamically, bearing load shock and short circuit, multiplying inverter N+1 redundancy parallel, coordinating power balance for easy control, and soft-switching commutation for high efficiency and large capacity. These advantages are distinctive from conventional inverter topologies and are especially demanded in AC drives: new energy generation and grid, distributed generation systems, switching power amplifier, active power filter, and reactive power compensation and so on. Prototype is manufactured and experiment results show the feasibility and dynamic voltage-tracking characteristics of the topology.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.241-247
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• 2000

The reference model of an MRC (model reference control) provides the desired trajectory a plant should follow and thus the design of a reference model has a significant effect on control performance. In most control systems control input to a plant has some bounds and it is preferable to make use of as large control inputs as possible within the range of no saturation. In this paper a new approach of selecting the reference model is proposed for bounded control inputs. Design variables of the reference model are determined in such a way that maximizes the performance index within the range of no saturation. Moreover this variable reference model is regularly updated during control. This scheme is verified by application to the servo motor position control system in various simulations. The responses of the MRC with a variable reference model show better tracking performance than that with a fixed reference mode. Moreover by adjusting the update interval of the reference model the control performance can be further improved.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.415-417
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• 2005

This paper proposes tracking control method using pseudo-backstepping control for wheeled mobile robots with nonholonomic constraints. First, the pseudo commands for forward linear velocity and angular velocity are chosen based on the kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and angular velocity follow the pseudo commands. Both semi-global practical posture(position and heading direction angle) stabilization and trajectory tracking are achieved for reference trajectories such as straight line and sinusoidal curve. The stability and performance analysed and numerical simulations are performed to confirm the effectiveness of the proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1587-1592
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• 2004

In the area of tracking control, it is important to design not only the controllers but also the trajectories to which a system has to follow. Position in the form of the $5^{th}$ order polynomial is often used with constraints of initial and final states. Smooth ending with possible minimum time is important for many systems to be away from vibrations or jerky motions. A simple polynomial-like trajectory generation method based on zero final state constraints is suggested and named ZSPOT. The effects of suggested method are shown through experiments in which a system follows an easy and computationally light reference trajectory.