• 한국생산제조학회지
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• 제19권3호
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• pp.394-401
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• 2010

In this article, we investigate a robust friction compensation scheme for the purpose of accomplishing precision positioning performance a servo mechanical system with nonlinear dynamic friction. To estimate the friction state and tackle robustness problem for uncertainty, a RFNN and reconstructed error compensator as well as a robust friction state observer are developed. The asymptotic stability of the series of friction compensation methodologies are verified from the Lyapunov's stability theory. Some simulations and experiments on a servo mechanical system were carried out to evaluate the effectiveness of the proposed control scheme.

• Journal of information and communication convergence engineering
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• 제2권3호
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• pp.198-201
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• 2004

In this paper, the discrete optimal control is made to have the robust property of Sliding mode controller. A augmented system with a virtual state is constructed for this objective and noble sliding surface is constructed based on this system. The sliding surface is the same as the optimal control trajectory in the original system. The states follow the optimal trajectory even if there exist uncertainties. The reaching phase problem of sliding mode control is disappear in this method.

• Journal of Advanced Marine Engineering and Technology
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• 제21권1호
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• pp.82-87
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• 1997

This paper presents a method about the modeling of the medium - small diesel engine for the speed control and designs the robust speed control system by the $\mu$-synthesis, which has good performance, in spite of the existence of model uncertainities and the external disturbance. We confirmed the validity of the proposed modeling method and the designed control system by $\mu$-synthesis through the experimental responses.

• 한국정밀공학회지
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• 제30권8호
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• pp.824-830
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• 2013

We propose a tracking control system for butterfly valves. A sliding mode controller with a fuzzy-neural network algorithm was applied to the design of the tracking control system. The control scheme used the real-time update law for the unmodeled system dynamics using a fuzzy-neural network algorithm. The performance of the proposed control system was assessed through a range of experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.93-95
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• 2006

In many control system applications, the system designed must not only satisfy the damping and accuracy specifications, but the control must also yield performance that is robust to external disturbance and parameter variations. We have shown that feedback in conventional control systems has the inherent ability of reducing the effects of external disturbance and parameter variations. Unfortunately, robustness with the conventional feedback configuration is achieved only with a high loop gain, which is normally detrimental to stability. The design of intelligent, autonomous machines to perform tasks that are dull, repetitive, hazardous, or that require skill, strength, or dexterity beyond the capability of humans is the ultimate goal of robotics research. This paper prove the robust control using Analog Adaptive Resonance Theorv(ART2) Algorithm about case study.

• 제어로봇시스템학회논문지
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• 제7권4호
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• pp.363-363
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• 2001

We study on the velocity matching algorithm for transfer alignment of inertial navigation system(INS) using a robust H₂ filter. We suggest an uncertainty model and a discrete robust H₂filter for INS and apply the suggested robust H₂ filter to the uncertainty model. The discrete robust H₂filter is shown by simulation to have better performance time and accuracy than Kalman filter.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1304-1307
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• 1996

In this paper, we present a robust Two Degree of Freedom (TDF) $H_{\infty}$ controllers for a missile system. The feedback controller is designed to meet robust stability and disturbance rejection specifications while the prefilter is used to improve the robust model matching properties of the closed loop system. As the perturbed model, we use the normalized coprim factor perturbations. These controllers are designed using $H_{\infty}$ optimization procedures, and applied to a missile model via simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.434-437
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• 1997

In this paper, we present an $H^{\infty}$ controller design of RTP system satisfying robust stability and performance using weighted mixed sensitivity minimization. In industrial fields, RTP system is widely used for improving the oxidation and the annealing in semiconductor manufacturing process. The main control factors are temperature control of wafer and uniformity in the wafer. The control of temperature and uniformity has been solved by PI control method. We improve robust stability and performance of RTP system by the design of $H^{\infty}$ controller using the weighted mixed sensivity function. An example is proposed to show the validity of proposed method.d.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 C
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• pp.875-879
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• 1998

A fault on the transmission line results in the variation of reactance and parametric uncertainties in the power system dynamics. In this case, we need a robust control to cope with these uncertainties. A sliding mode control, a sort of robust control, is known to be robust to parametric or state-dependent uncertainties if the bounding function of uncertain terms is determined a priori. However, in general, we can not readily determine the bounding function for the complex systems. Hence, in this paper we introduce a fuzzy system which can estimate the bounding function in relatively simple way. By the use of the proposed fuzzy system, determination of bounding function is made easier. We applied the proposed scheme to the stabilization of power system under the sudden fault on the transmission lines. The simulation result verifies the effectiveness of the scheme.

• 전기학회논문지
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• 제59권8호
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• pp.1444-1448
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• 2010

The ball and beam system is one of the most popular models for studying control systems because of its nonlinearity and several control techniques have been proposed. Sliding mode control is a popular robust control method which rejects the external disturbance. In this paper, we propose a robust controller using the ${\epsilon}$-sliding surface. On the ${\epsilon}$-sliding surface, the system robustness and convergence can be manipulated via a use of ${\epsilon}$. We show the stability analysis and convergence analysis on the ${\epsilon}$-sliding surface. In addition, the experimental results show the validity of the proposed controller.