• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.21 no.2
• /
• pp.265-276
• /
• 2017

In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.17 no.1
• /
• pp.49-58
• /
• 2004

Drift design of a high-rise building is a governing factor in the determination of structural weights and lateral resisting systems. However, high-rise buildings are composed of tens of thousands of structural member, designer can not know which members are active to lateral drift control and how much they contribute to lateral drifts. Resizing technique was proved to be a practical method for drift design of high-rise buildings. However, no resizing algorithm has been considered the effect of vertical loads in drift designs. Thus, in this paper, a resizing algorithm has been developed for drift designs of high-rise buildings subjected to both lateral and vertical loads. The drift design model has been applied to drift designs of two high-rise building examples.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.32 no.8
• /
• pp.109-117
• /
• 2004

A study on gust load alleviation using aircraft control surface was performed. Aeroservoelastic model including control surface controller was formulated and validated by comparing the results of continuous gust response analysis with those of MSC/NASTRAN. Optimal control with output feedback was adopted for designing the control surface controller, and the effects of gust load alleviation was validated by performing the numerical simulation for the controller designed.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.39 no.1
• /
• pp.33-41
• /
• 2002

In this paper, we present a frequency weighted model reduction using LMIs for minimizing the H$\infty$ weighted model error compared with the methods of frequency weighted balanced truncation and frequency weighted Hankel norm approximation. The proposed algorithm, its form is equal to the sufficient condition of performance preserving controller approximation, is based on an iterative two-step LMI scheme induced from bound real lemma. So, it can be applied to the problem of the performance preserving controller approximation. The controller reduction is useful in a practical control design and ensures its easy implementation and high reliability The validity of the proposed algorithm is shown through numerical examples. Additionaly, we extend the proposed algorithm to performance preserving controller approximation by applying to the HIMAT(highly maneuverable aircraft technology) system.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.11
• /
• pp.791-800
• /
• 2022

The number and locations of force generators and their force directions of Active Vibration Control System(AVCS) are important to maximize the airframe vibration reduction performance of helicopters. The present AVCS simulation using an exhaustive test method attempts to determine the best number and locations of force generators and their force directions for maximization of the airframe vibration reduction performance of UH-60A helicopter at 158 knots. The 4P hub vibratory loads of the UH-60A helicopter are calculated using DYMORE II, a nonlinear multibody dynamics analysis code, and MSC.NASTRAN is used to predict the vibration responses of the UH-60A airframe. The AVCS framework with an exhaustive test method is constructed using MATLAB Simulink. As a result, when applying AVCS with the optimal combination of the force generators, the 4P airframe vibration responses of UH-60A helicopter are reduced by from 19.35% to 98.07% compared to the baseline results without AVCS.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.37 no.5
• /
• pp.22-33
• /
• 2000

Since the heavy-duty power manipulator generally has high ratio gear reducers at its joints, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulation systems. This paper proposes a force reflecting and compliant control scheme for the heavy-duty power telemanipulator. The main advantage of the proposed scheme is that it provides a precise position and compliant control performance for a telemanipulator with control input saturation. The stability of the proposed scheme is analyzed and a series of experiments shows its performance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.05a
• /
• pp.72-77
• /
• 2001

고층 빌딩의 풍하중에 의한 진동을 제어하기 위하여 MR 유체감쇠기를 이용한 반능동 제어 시스템의 설계에 대하여 연구하였다. 제안된 설계기법의 효율성을 검증하기 위하여 ASCE benchmark 구조물을 대상으로 수치 모의 해석을 수행하였다. 유전자 알고리즘을 사용하여 MR 감쇠기의 76층 빌딩 내에서의 최적위치와 용량을 결정하였으며, clipped optimal control 제어기법을 사용하여 가속도 되먹임 구조를 갖는 MR 감쇠기의 제어 알고리즘을 구성하였다, 수치 모의 해석 결과로부터 MR 감쇠기는 ATMD와 유상한 제어 성능을 가지고 있으며 매우 작은 규모의 파워 시스템만으로 운영이 가능한 효율적이고 안정적인 제어 시스템임을 확인할 수 있었다.

• Journal of the Korea Concrete Institute
• /
• v.18 no.6 s.96
• /
• pp.711-720
• /
• 2006

The structural behavior of concrete girder in bridges constructed by free cantilever method is time-dependent due to creep and shrinkage of concrete. The constraint effects of longitudinal movement of concrete girders can introduce unfavourable moment into piers. This study is aimed at proposing a method to reduce the moment of piers in bridge constructed by free cantilever method. The method are systematically composed of time-dependent structural analysis of bridges and loading of control force during construction of bridge. Numerical analyses are carried out depending on the parameters such as amount of control force and flexibility of pier. Time-dependent structural behavior shows that moment of pier increases according as pier height decreases. Also, moment of pier decreases when control method are applied. Numerical result of the study represents that time-dependent moment of piers can be controlled effectively by employing the proposed method.

• Proceedings of the Earthquake Engineering Society of Korea Conference
• /
• 2001.04a
• /
• pp.403-410
• /
• 2001

고층 빌딩의 풍하중에 의한 진동을 제어하기 위하여 MR 유체감쇠기를 이용한 반능동 제어 시스템의 설계에 대하여 연구하였다. 제안된 설계기법의 효율성을 검증하기 위하여 3차 ASCE benchma가 구조물을 대상으로 수치 모의 해석을 수행하였다. 유전자 알고리즘을 사용하여 MR 감쇠기의 76층 빌딩내에서의 최적위치와 용량을 결정하였으며, clipped optimal control 제어기법을 사용하여 가속도 되먹임 구조를 갖는 MR 감쇠기의 제어 알고리즘을 구성하였다. 수치 모의 해석 결과로부터 MR 감쇠기는 ATMD와 유사한 제어 성능을 가지고 있으며 매우 작은 규모의 파워 시스템만으로 운영이 가능한 효율적이고 안정적인 시스템임을 확인할 수 있었다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2011.04a
• /
• pp.492-497
• /
• 2011

Helicopter uses a rotor system to generate lift, thrust and forces, and its aerodynamic environment is generally complex. Unsteady aerodynamic environment arises such as blade vortex interaction. This unsteady aerodynamic environment induces vibratory aerodynamic loads and high aeroacoustic noise. Those are at N times the rotor blade revolutions (N/rev). But conventional rotor control system composed of pitch links and swash plate is not capable of adjusting such vibratory loads because its control is restricted to 1/rev. Many active control methodologies have been examined to alleviate the problem. The blade using active control device manipulates the blade pitch angle at arbitrary frequencies. In this paper, Active Trailing-edge Flap blade, which is one of the active control methods, is designed to modify the unsteady aerodynamic loads. Active Trailing-edge Flap blade uses a trailing edge flap manipulated by an actuator to change camber of the airfoil. Piezoelectric actuators are installed inside the blade to manipulate the trailing edge flap.