• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.842-847
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• 2008

This paper proposes a new sliding-surface-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.

• Physical Therapy Rehabilitation Science
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• 제7권4호
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• pp.172-178
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• 2018

Objective: The purpose of this study was to show the temporary effects of performing jumping lunges on a sand surface on static balance and dynamic balance. Design: Randomized controlled trial. Methods: Twenty healthy subjects volunteered in the study and was randomly assigned into either the sand group (n=10) or the control group (n=10). The subjects in the sand group performed jumping lunges on a sand surface and the subjects in the control group performed jumping lunges on a firm surface. The intervention was performed for 3 sets of 8 repetitions by both groups. To measure static balance, the force plate was employed to measure the center of pressure (CoP) area, and the CoP velocity during one-legged standing. Anterior, postero-medial, postero-lateral movements was assessed using the Star Excursion Balance Test (SEBT) to measure dynamic balance. Results: After the intervention, the sand group showed statistically significant improvements on all variables (CoP area, CoP velocity) in static balance (p<0.05). There were statistically significant changes in CoP area and CoP velocities between the two groups (p<0.05). In the sand group, there were significant improvements in the postero-medial and postero-lateral directions (p<0.05) except for anterior direction on dynamic balance. In the control group, there was a significant improvement in the postero-lateral and anterior directions (p<0.05). In comparison of the two groups, there was no statistically significant improvement in all variables. Conclusions: This study demonstrated that performing jumping lunges on a sand surface was effective in improving static and dynamic balance temporarily.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.519-522
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• 2005

Decentralized Dynamic Surface Control(DDSC) for a class of nonlinear system interconnected via sensor network is presented in this paper. While a centralized design approach of DSC was developed in [1], the decentralized approach to deal with complex large-scale systems is proposed under the assumption that interconnected functions among subsystems are known via sensor network. As shown in [2], the separation principle for DDSC will allow us to design an estimation filter independently. Furthermore, the theoretical results are used to design and simulate an active vibration isolator under the assumption that many embedded sensors are distributed and communicate each other via wireless communication.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1728-1729
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• 2007

This paper presents an adaptive neural dynamic surface control (DSC) approach with $H_{\infty}$ tracking performance for a full dynamics of a nonlinear flight system. It is assumed in this paper that model uncertainties such as structured and unstrutured uncertainties and external disturbances influence the nonlinear aircraft model. In our control system, self recurrent wavelet neural networks (SRWNNs) are used to compensate model uncertainties of the nonlinear flight system, and an adaptive DSC technique is extended for disturbance attenuation of the nonlinear flight system. From Lyapunov stability theorem, it is shown that $H_{\infty}$ performance from external disturbances can be obtained. Finally, we perform the simulation for the nonlinear six-degree-of-freedom F-16 aircraft model to confirm the effectiveness of the proposed control system.

• 대한임상전기생리학회지
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• 제10권1호
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• pp.39-44
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• 2012

Purpose : This study purposed to analyze how dynamic stabilization exercise on an unstable surface, and static stabilization exercise on muscle strength and endurance. Methods : For this study we sampled 9 people for the unstable surface dynamic stabilization exercise group, 9 for the stable surface static stabilization exercise group, and 9 for the control group. In order to examine muscle strength and endurance, we measured changes in the maximal voluntary isometric contraction (MVIC) using a dynamometer before, 3 weeks after, and 6 weeks after the experiment. Results : First, with regard to change in muscle strength, flexion strength showed a significant change in interaction by time (p<0.05). Extension strength showed a significant change in interaction by time (p<0.05). Second, with regard to change in endurance, flexion endurance showed a significant change in interaction by time (p<0.05). Extension endurance showed a significant change in interaction by time (p<0.05). Conclusion : In conclusion, this study confirmed significant changes in interaction between the groups and by time with regard to changes in muscle strength and endurance. These results suggest the potential of surface dynamic stabilization exercise as a clinical intervention.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 춘계학술대회논문집
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• pp.299-304
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• 2008

Dynamic characteristics of smart hull structure are investigated and active vibration control performance is evaluated. Dynamic model of smart hull structure with surface bonded Macro-fiber Composite (MFC) actuators is established by analytical method. Equations of motion of the host hull structure are derived based on Donnell-Mushtari equilibrium equations for a thin cylindrical shell. A general model for the interaction between hull structure and MFC actuator is included in the dynamic model. Modal analysis is then conducted and mode shapes and corresponding natural frequencies are investigated. After constructing of the optimal control algorithm, active vibration control performance of the proposed system is evaluated. It has been shown that structural vibration can be reduced effectively with proper control input.

• 한국소음진동공학회논문집
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• 제18권8호
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• pp.832-840
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• 2008

Dynamic characteristics of smart hull structure are investigated and active vibration control performance is evaluated. Dynamic model of smart hull structure with surface bonded macro-fiber composite(MFC) actuators is established by analytical method. Equations of motion of the host hull structure are derived based on Donnell-Mushtari equilibrium equations for a thin cylindrical shell. A general model for the interaction between hull structure and MFC actuator is included in the dynamic model. Modal analysis is then conducted and mode shapes and corresponding natural frequencies are investigated. After constructing of the optimal control algorithm, active vibration control performance of the proposed system is evaluated. It has been shown that structural vibration can be reduced effectively with proper control input.

• 한국기계가공학회지
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• 제21권3호
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• pp.29-35
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• 2022

When a vehicle is driven off a road surface, the deformations of the road surface and tire are combined. Consequently, the dynamic behavior of wheel movement becomes difficult to predict and control. Herein, we propose a tire test bed to capture the dynamic behavior of tires moving on sand and soil. Based on this study, it is discovered that the slip rate can be controlled, and the vertical force can be measured using a load cell. The test results show that this test bed can be useful for capturing the dynamic behavior of the tire and validating dynamic simulations. In fact, the tire test bed developed in this study can be used to verify the results of computer simulations. In addition, it can be used for basic experiments pertaining to the speed control of unmanned autonomous vehicles.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1520-1528
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• 2000

This study presents a method for determining bearing stiffness and damping coefficients of air-lubricated slider bearing, and shows influences of air-bearing surface geometry(recess depth, crown an d pivot location) on flying attitude and dynamic characteristics. To derive the dynamic lubrication equation, the perturbation method is applied to the generalized lubrication equation which based on linearized Boltzmann equation. The generalized lubrication equation and the dynamic lubrication equation are converted to a control volume formulation, and then, the static and dynamic pressure distributions are calculated by finite difference method. The recess depth and crown of the slider show significantly influence on flying attitude and dynamic characteristics comparing with those of pivot location.

• 로봇학회논문지
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• 제12권3호
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• pp.339-349
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• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.