• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.665-666
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• 2009

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.1311-1312
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• 2015

본 논문에서는 IPMSM의 제어에 있어거 터미널슬라이딩모드를 사용한다. 이용하여 슬라이딩 평면에서 유한한 시간 안에 오차가 0으로 수렴함을 보장하도록 제안한다. 그러나 IPMSM 부하외란의 비정합성 문제해결을 위해 백스테핑제어 기법을 적용하였다. 제안된 제어기는 백스테핑 PID제어기를 사용한 IPMSM제어 시스템과 비교할 때 강인한 특성을 갖는다.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.261-269
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• 2014

This paper provides an overview of the basics and recent studies of Lyapunov-based nonlinear adaptive control, the aim of which is to improve or maintain the performance and stability of the closed-loop system by cancelling out the presumable uncertainties in the nonlinear system dynamics. The design principles are essentially based on Lyapunov's direct method. In this survey, we provide a comprehensive overview of Lyapunov-based nonlinear adaptive control techniques with simplified effective design examples, which are to be elaborated as related recent results are gradually shown. The scope of the survey contains research on singularity problems in adaptive control, the techniques to deal with linearly and nonlinearly parameterized uncertainties, robust neuro-adaptive control, and adaptive control methodologies combined with various nonlinear control techniques such as sliding-mode control, back-stepping, dynamic surface control, and optimal/$H_{\infty}$ control.

• Journal of Power Electronics
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• 제7권1호
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• pp.1-12
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• 2007

Novel nonlinear backstepping control with integrated adaptive control function is developed for high-performance positioning control systems. The proposed schemes are synthesized by a systematic approach and implemented based on a modern low-cost DSP controller, TMS320C32. A baseline backstepping control scheme is derived first, and is then extended to include a nonlinear adaptive control against the system parameter changes and load variations. The backstepping control utilizes Lyapunov function to guarantee the convergence of the position tracking error. The final control algorithm is a convenient in the implementation of a practical 32-bit DSP controller. The new control system can achieve superior performance over the conventional nested PI controllers, with improved position tracking, control bandwidth, and robustness against external disturbances, which is demonstrated by experimental results.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.61-70
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• 2017

In this study, an extended-state-observer (ESO) based non-linear servo control is introduced for an electro-hydrostatic actuator (EHA). Almost hydraulic systems not only are highly non-linear system that has mismatched uncertainties and external disturbances, but also can not measure some states. ESO that only use an output signal can be used to compensate these uncertainties and estimate unmeasurable states. To improve the position tracking performance, the barrier Lyapunov function (BLF) that can guarantee an output tolerance is introduced for the position tracking error signal of back stepping control procedures. Finally, the proposed servo control is compared with the proportional-integral (PI) control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.74.3-74
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• 2001

This paper proposes a nonlinear adaptive controller based on back-stepping method for tracking reference substrate concentration by manipulating dilution rate in a continuous baker´s yeast cultivating process in stirred tank bioreactor. Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The Haldane model for the specific growth rate depending on only substrate concentration is used in this paper. Due to the uncertainty of specific growth rate, it has been modified as a function including the unknown parameter with known bounded values. The substrate concentration in the bioreactor and feed line are measured. The deviation from the reference is observed when the external disturbance such as the change of the feed is introduced to the system ...

• Journal of Mechanical Science and Technology
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• 제16권12호
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• pp.1613-1626
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• 2002

This paper presents hybrid control of an active suspension system with a full-car model by using H$\sub$$\infty$/ and nonlinear adaptive control methods. The full-car model has seven degrees of freedom including heaving, pitching and rolling motions. In the active suspension system, the controller shows good performance: small gains from the road disturbances to the heaving, pitching and rolling accelerations of the car body. Also the controlled system must be robust to system parameter variations. As the control method, H$\sub$$\infty$/ controller is designed so as to guarantee the robustness of a closed-loop system in the presence of uncertainties and disturbances. The system parameter variations are taken into account by multiplicative uncertainty model and the system robustness is guaranteed by small gain theorem. The active system with H$\sub$$\infty$/ controller can reduce the accelerations of the car body in the heaving, pitching and rolling directions. The nonlinearity of a hydraulic actuator is handled by nonlinear adaptive control based on the back-stepping method. The effectiveness of the controllers is verified through simulation results in both frequency and time domains.

• 한국전자통신학회논문지
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• 제15권5호
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• pp.907-912
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• 2020

전동기의 수학적 모델 오차와 작용하는 외란을 고려하여 제어기를 설계하는 것이 강건하며 정밀한 제어 성능을 좌우한다. 강건하며 정밀한 제어를 위하여 기계적인 부분과 전기적인 부분의 외란 관측기를 설계하여 외란을 추정하고, 공칭 시스템으로 설계된 속도제어기와 전류 제어기에 나누어 적용하였다. 설계된 시스템의 제어 성능을 확인하고자 120 [W]급의 BLDC 전동기에 적용하여, 속도 추종제어의 결과 외란을 극복하고 정상상태 오차가 영으로 수렴하며, 점근적 안정한 결과를 확인할 수 있다.

• 드라이브 ㆍ 컨트롤
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• 제16권2호
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• pp.80-90
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• 2019

Fuel cell hybrid electric vehicle is an attractive solution to reduce pollutants, such as noise and carbon dioxide emission. This study presents an approach for energy management and control algorithm based on energetic macroscopic representation for a fuel cell hybrid electric vehicle that is powered by proton exchange membrane fuel cell, battery and supercapacitor. First, the detailed model of the fuel cell hybrid electric vehicle, including fuel cell, battery, supercapacitor, DC-DC converters and powertrain system, are built on the energetic macroscopic representation. Next, the power management strategy was applied to manage the energy among the three power sources. Moreover, the control scheme that was based on back-stepping sliding mode control and inversed-model control techniques were deduced. Simulation tests that used a worldwide harmonized light vehicle test procedure standard driving cycle showed the effectiveness of the proposed control method.

• 전자공학회논문지SC
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• 제40권3호
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• pp.127-134
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• 2003

본 논문에서는 퍼지제어를 이용하여 사람의 얼굴을 추적하는 카메라를 구동하는 시스템을 구현한다. 팬틸트(Pan Tilt)구조를 가진 카메라 시스템은 먼저 영상을 PC로 보내고 PC에서는 추적알고리즘에 의한 추적 좌표를 다시 카메라에 전송하면 카메라는 목표 얼굴을 실시간으로 추적하는 방식으로 되어 있다. 카메라를 구동하는 2축의 스텝모터는 PC에서 전송된 목표 좌표로 최대한 빠르고 또한 부드럽게 제어되어야 한다. 이를 위해서 본 논문에서는 퍼지제어기를 제안하여 구동용 가·감속 주파수를 만들고 두 축의 스텝모터를 빠르면서도 부드럽게 제어한다 그리고 본 제안 방식의 효율성을 검증하기 위하여 실험 장치를 제작하고 실험을 수행한다.