• International Journal of Internet, Broadcasting and Communication
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• 제8권1호
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• pp.1-6
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• 2016

Keeping a system in stable state is one of the important issues of control theory. The main goal of our basic research is stability of unmanned aerial vehicle (quadrotor). This type of system uses a variety of sensors to stabilize. In control theory and automatic control system to stabilize any system it is need to apply feedback control based on information from sensors. Our aim is to provide balance based on the 3D spatial information in real time. We used PID control method for stabilization of a seesaw balancing system and the article presents our experimental results. This paper presents the possibility of balancing of seesaw system based on feedback information from stereo vision system only.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.1127-1128
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• 2008

In this paper, we propose a control method to improve control performance for a Quad-rotor Unmanned Aerial Vehicle's stabilization. The proposed method is the Fuzzy+I control that contains a fuzzy controller which processes signals from the error and the change of error, and generates the control signal by summing up fuzzy output signal and integral signal. We simulated and experimented on the fuzzy+I control method by implementing Quad-rotor UAV that is able to hovering, for the purpose of verifying the effectiveness of the proposed fuzzy+I control method in comparison with general PID control, and we found out that fuzzy+I controller improved control performance of the system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.497-499
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• 1998

the satellite tracking problem of Antenna with two axis of elevation angle and azimuth one is described in this paper. The proposed control procedures for stabilization of nonlinear pedestal unit are consists of a off-line modeling identified by neural network and a on-line neural network controller combined with a reference model using the least square method. the simulation results are introduced and compared to a conventional PID controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2624-2626
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• 2000

The stabilization controls of coupled tank system and ball-beam system are difficult control tasks because of their high order time delay, nonlinearity and structural unstability. Fuhermore, a series of classical methods such as a conventional PID and a full state feedback controller(FSFC) based on the local linearizations have narrow stabilizable regions. Therefore, in this paper, in order to stabilize two representative nonlinear system mentioned above, a Sliding Mode Controller based on a Real Variable Elitist Genetic Algorithm(RVEGA SMC) was proposed.

• International Journal of Advanced Culture Technology
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• 제8권4호
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• pp.51-57
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• 2020

A propeller-based seesaw system is a system that can represent one of axis of four propeller drones and its stabilization has been replaced by intelligent control system instead of often used control methods such as PID and state space. Today, robots are increasingly use machine learning methods to adapt to their environment and learn to perform the right actions. In this article, we propose a Q-learning-based approach to control the stability of a seesaw system with a propeller. From the experimental results that it is possible to fully learn the balance control of a seesaw system by correctly defining the state of the system, the actions to be performed, and the reward functions. Our proposed method solves the seesaw stabilization.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2021년도 추계학술대회
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• pp.590-593
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• 2021

본 연구에서는 목발을 사용하는 교통약자가 물품을 안정적으로 휴대할 수 있도록 도와주는 장치를 개발하였다. 2축 짐벌 구조를 기반으로 서보모터, IMU센서, 아두이노 나노 마이크로프로세서로 구현하였고, Pitch와 Roll 방향 회전을 상쇄하기 위해 센서 각도를 변환 없이 사용하는 기본제어법과 PID 제어법을 사용하여 비교하였다.

• 한국전자통신학회논문지
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• 제12권4호
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• pp.591-598
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• 2017

현재 무인항공기의 기술 변화와 시장 규모는 발 빠르게 확산되고 있다. 활용 범위의 확대로 드론을 쉽게 접할 수 있게 되면서 조종자의 조종 미숙으로 인한 피해가 발생한다. 이러한 문제 발생으로 인한 피해를 최소화하기 위해서 드론의 안정적인 비행 능력이 요구되며 이를 위하여 모터의 안정적인 속도 제어가 요구된다. 따라서 본 논문에서는 모터의 제어 방안으로 Arduino를 주 제어장치로 사용하였으며 기체의 자세 안정화를 위하여 가속도 센서와 자이로 센서를 사용하였다. 또한, 초음파 센서를 드론에 탑재하여 일정 높이에서 호버링이 가능하도록 하였다. 안드로이드 앱을 이용하여 드론을 제어하였으며 그 결과 0~2m 범위의 지정한 위치에서 안정적으로 호버링이 가능함을 확인하였다.

• 한국항행학회논문지
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• 제21권5호
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• pp.450-458
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• 2017

본 연구에서는 곤충모방 날갯짓 비행체의 모델링과 제자리비행을 위한 자세제어 및 고도제어기를 설계하여 동역학 모델을 이용한 시뮬레이션을 수행하고 그 결과를 분석하였다. 곤충모방 날갯짓 비행체의 간략화한 날갯짓 운동, 날갯짓의 병진운동 및 회전운동에 대한 공력, 동체 동역학에 대해 수치모델링을 수행하였다. 제자리비행 자세제어를 위해 날갯짓 비행체가 가지는 시변 비선형 시스템을 선형화하여 설계한 LQR(Linear Quadratic Regulator) 제어기법을 통하여 자세안정화를 적용하였으며 PID 제어기법을 통해 고도제어를 수행하였다. 수치 시뮬레이션을 통해 설계된 모델과 제어기의 성능을 확인하였으며 제자리비행을 위한 자세안정화 및 고도 제어가 안정적으로 수행되는 것을 확인하였다. 또한 날갯짓에 의해 발생하는 주기적인 피칭 모멘트를 주기적인 제어입력을 통해 임계 안정하도록 자세 안정화를 수행하는 것을 확인 하였다.

• Smart Structures and Systems
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• 제14권3호
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• pp.347-365
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• 2014

The main objective of this paper is to develop an innovative methodology for the vibration suppression control of the multiple degrees-of-freedom (MDOF) flexible structure. The proposed structure represented in this research as a clamped-free-free-free truss type plate is rotated by motors. The controller has two loops for tracking and vibration suppression. In addition to stabilizing the actual system, the proposed feedback control is based on a genetic algorithm (GA) to seek the primary optimal control gain for tracking and stabilization purposes. Moreover, input shaping is introduced for the control scheme that limits motion-induced elastic vibration by shaping the reference command. Experimental results are presented, demonstrating that, in the control loop, roll and yaw angles track control and elastic mode stabilization. It was also demonstrated that combining the input shaper with the proportional-integral-derivative (PID) feedback method has been shown to yield improved performance in controlling the flexible structure system. The broad range of problems discussed in this research is valuable in civil, mechanical, and aerospace engineering for flexible structures with MDOM motion.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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• pp.691-695
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• 1998

Most of systems has nonlinearity . And also accurate modelings of these uncertain nonlinear systems are very difficult. In this paper, a fuzzy modeling technique for the stabilization control of an IP(inverted pendulum) system with nonlinearity was proposed. The fuzzy modeling was acquired on the basis of ANFIS(Adaptive Neuro Fuzzy Infernce System) which could learn using a series of input-output data pairs. Simulation results showed its superiority to the PID controller. We believe that its applicability can be extended to the other nonlinear systems.