• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.304-306
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• 2007

In this paper, we presents a scheme for the parameter estimation and optimal control scheme for apparatus of container crane system. For parameter estimation, first, we construct the open loop of the container crane system and estimate its parameters based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. The RCGA plays an important role in parameter estimation as an adaptive mechanism. For controller design, state feedback gain matrix is searched by another RCGA and the estimated model. The performance of the proposed methods are demonstrated through a set of simulation and experiments of the experimental apparatus.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.7
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• pp.16-23
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• 2018

Chaos is one of the most significant topics in nonlinear science, and has been intensively studied since the Lorenz system was introduced. One characteristic of a chaotic system is that the signals produced by it do not synchronize with any other system. It therefore seems impossible for two chaotic systems to synchronize with each other, but if the two systems exchange information in just the right way, they can synchronize. This paper addresses the problem of synchronization in a modified Lorenz chaotic system based on active control, sliding mode control, and the Lyapunov stability theory. The considered synchronization scheme consists of identical drive and response generalized systems coupled with linear state error variables. For this, a brief overview of the modified Lorenz chaotic system is given. Then, control rules are derived for chaos synchronization via active control and slide mode control theory, with a strategy for solving the chattering problem. The asymptotic stability of the overall feedback system is established using the Lyapunov stability theory. A set of computer simulation works is presented graphically to confirm the validity of the proposed method.

• Journal of Power Electronics
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• v.13 no.4
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• pp.679-691
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• 2013

High-power electromagnetic transmitter power supplies are an important part of deep geophysical exploration equipment. This is especially true in complex environments, where the ability to produce a highly accurate and stable output and safety through redundancy have become the key issues in the design of high-power electromagnetic transmitter power supplies. To solve these issues, a high-frequency switching power cascade based emission power supply is designed. By combining the circuit averaged model and the equivalent controlled source method, a modular mathematical model is established with the on-state loss and transformer induction loss being taken into account. A triple-loop control including an inner current loop, an outer voltage loop and a load current forward feedback, and a digitalized voltage/current sharing control method are proposed for the realization of the rapid, stable and highly accurate output of the system. By using a new algorithm referred to as GAPSO, which integrates a genetic algorithm and a particle swarm algorithm, the parameters of the controller are tuned. A multi-module cascade helps to achieve system redundancy. A simulation analysis of the open-loop system proves the accuracy of the established system and provides a better reflection of the characteristics of the power supply. A parameter tuning simulation proves the effectiveness of the GAPSO algorithm. A closed-loop simulation of the system and field geological exploration experiments demonstrate the effectiveness of the control method. This ensures both the system's excellent stability and the output's accuracy. It also ensures the accuracy of the established mathematical model as well as its ability to meet the requirements of practical field deep exploration.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.337-342
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• 2009

This paper concerns delay-range-dependent robust stability and stabilization for time-delay nonliner system via T-S fuzzy model approach. The time delay is assumed to be a time-varying continuous function belonging to a given range. On the basis of a novel Lyapunov-Krasovskii functional, which includes the information of the range, delay-range-dependent stability criteria are established in terms of linear matrix inequality. It is shown that the new criteria can provide less conservative results than some existing ones. Moreover, the stability criteria are also used to design the stabilizing state-feedback controllers. Numerical examples are given to demonstrate the applicability of the proposed approach.

• Journal of Astronomy and Space Sciences
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• v.30 no.1
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• pp.1-10
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• 2013

An integrated orbit and attitude control algorithm for satellite formation flying was developed, and an integrated orbit and attitude software-in-the-loop (SIL) simulator was also developed to test and verify the integrated control algorithm. The integrated algorithm includes state-dependent Riccati equation (SDRE) control algorithm and PD feedback control algorithm as orbit and attitude controller respectively and configures the two algorithms with an integrating effect. The integrated SIL simulator largely comprises an orbit SIL simulator for orbit determination and control, and attitude SIL simulator for attitude determination and control. The two SIL simulators were designed considering the performance and characteristics of related hardware-in-the-loop (HIL) simulators and were combined into the integrated SIL simulator. To verify the developed integrated SIL simulator with the integrated control algorithm, an orbit simulation and integrated orbit and attitude simulation were performed for a formation reconfiguration scenario using the orbit SIL simulator and the integrated SIL simulator, respectively. Then, the two simulation results were compared and analyzed with each other. As a result, the user satellite in both simulations achieved successful formation reconfiguration, and the results of the integrated simulation were closer to those of actual satellite than the orbit simulation. The integrated orbit and attitude control algorithm verified in this study enables us to perform more realistic orbit control for satellite formation flying. In addition, the integrated orbit and attitude SIL simulator is able to provide the environment of easy test and verification not only for the existing diverse orbit or attitude control algorithms but also for integrated orbit and attitude control algorithms.