• Journal of Institute of Control, Robotics and Systems
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• v.16 no.4
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• pp.329-334
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• 2010

This paper presents the design of a neural network based adaptive control for missile. Acceleration of missile by tail fin control cannot be controllable by DMI (Dynamic Model Inversion) directly because it is non-minimum phase system. To avoid the non-minimum phase system, dynamic model inversion is applied with output-redefinition method. In order to evaluate performance of the suggested controllers we selected the three cases such as control surface fail, control surface loss and wing loss for model uncertainty. The corresponding aerodynamic databases to the failure cases were calculated by using the Missile DATACOM. Using a high fidelity 6DOF simulation program of the missile the performance was evaluates.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.217-225
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• 2016

Dynamic Positioning (DP) is used to automatically maintain the position and heading of a floating structure subjected to environmental disturbances. A DP control system is composed of a motion controller to compute the desired force and moment and a thrust allocator to distribute the computed force and moment to multiple thrusters considering mechanical and operational constraints. Among various thruster configurations, azimuth thrusters or propeller/rudder pairs tend to make the allocation problem difficult to solve, because these types of propulsion systems include nonlinear constraints. In this paper, a dynamic positioning strategy for a twin-thruster ship that is propelled by two azimuthing thrusters is addressed, and a thrust allocation method which does not require a numerical optimization solver is proposed. The applicability of the proposed method is demonstrated with an experiment using an autonomous boat.

• Journal of the Korean Society of Physical Medicine
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• v.9 no.2
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• pp.181-191
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• 2014

PURPOSE: The purpose of this study was to investigate the effect of sensorimotor training in unstable surface on balance ability of elderly women. METHODS: Total of 40 subject were recruited from two separated institution for elderly women in Changwon and conveniently allocated into experimental and control groups. Twenty women were included into experimental group and another twenty women were into control group. Experimental group performed sensorimotor training in unstable surface and control group were only activities of daily living during eight weeks. To assess static balance ability used One leg stance test (OLST) and to assess dynamic balance ability used timed up and go test (TUGT) and Functional reach test (FRT). RESULTS: Control group did not show any difference in balance ability. However static balance ability in experimental group improved on hard or soft surface only eye open condition. Also dynamic balance ability in experimental group improved TUGT or FRT. CONCLUSION: Sensorimotor training in unstable surface improved balance ability of elderly women.

• Coupled systems mechanics
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• v.1 no.1
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• pp.39-57
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• 2012

This study intends to explore dynamic interaction behaviors between actively controlled maglev vehicle and guideway girders by considering the nonlinear forms of electromagnetic force and current exactly. For this, governing equations for the maglev vehicle with ten degrees of freedom are derived by considering the nonlinear equation of electromagnetic force, surface irregularity, and the deflection of the guideway girder. Next, equations of motion of the guideway girder, based on the mode superposition method, are obtained by applying the UTM-01 control algorithm for electromagnetic suspension to make the maglev vehicle system stable. Finally, the numerical studies under various conditions are carried out to investigate the dynamic characteristics of the maglev system based on consideration of the linear and nonlinear electromagnetic forces. From numerical simulation, it is observed that the dynamic responses between nonlinear and linear analysis make little difference in the stable region. But unstable responses in nonlinear analysis under poor conditions can sometimes be obtained because the nominal air-gap is too small to control the maglev vehicle stably. However, it is demonstrated that this unstable phenomenon can be removed by making the nominal air-gap related to electromagnetic force larger. Consequently it is judged that the nonlinear analysis method considering the nonlinear equations of electromagnetic force and current can provide more realistic solutions than the linear analysis.

• Journal of International Academy of Physical Therapy Research
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• v.10 no.2
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• pp.1756-1762
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• 2019

Background: Functional ankle instability (FAI) indicating a decrease in muscle strength, proprioception, neuromuscular control, balance and postural control function. Objective: To investigate the effect of jumping exercise on the supporting surface on the ankle muscle thickness, proprioceptive sensation, and balance in adults with FAI. Design: Randomized Controlled Trial. Methods: Twenty young people with FAI were randomly assigned to the unstable supporting surface jump group (N=10) and the stable supporting surface jump group (N=10). The intervention was conducted three times a week for eight weeks, and for 30 minutes per session. Trampoline was used as an unstable support surface and the stable support surface was carried out on a regular floor. The thickness of the tibialis anterior muscle and medial gastrocnemius muscle was measured by ultrasonography, and the proprioception of dorsiflexion and plantarflexion was measured using an electrogoniometer. The dynamic balance was also measured with a balance meter. Results: The the muscle thickness of the medial gastrocnemius muscle was significantly higher in the stable supporting surface jump group than in the unstable supporting surface jump group (p<.05). Furthermore, the plantar flexion proprioception and dynamic balance were significantly improved in the unstable supporting surface jump group than in the stable supporting surface jump group in the intergroup comparison (p<.05). Conclusions: The conclusion has been reached in this study that the jumping exercise on the unstable supporting surface could be a more effective in improving FAI than the regular surface.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.5-11
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• 2010

An adaptive formation control approach is proposed for nonhonolomic multiple mobile robots considering unknown slipping and skidding. It is assumed that unknown slipping and skidding effects are bounded by unknown constants. Under this assumption, the adaptive technique is employed to estimate the bounds of unknown slipping and skidding effects of each mobile robot. To deal with the skidding effect included in kinematics, the dynamic surface design approach is applied to design a local controller for each mobile robot. Using Lyapunov stability theorem, the adaptation laws for tuning bounds of slipping and skidding are induced and it is proved that all signals of the closed-loop system are bounded and the tracking errors and the synchronization errors of the path parameters converge to an adjustable neighborhood of the origin. Finally, simulation results are provided to verify the effectiveness of the proposed approach.

• Geomechanics and Engineering
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• v.16 no.4
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• pp.341-353
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• 2018

A reinforced concrete pedestrian tunnel is constructed under a four-track surface railway. Heavy rainfall and soil exposure to drying lead to soil with different water content throughout the year. A railway is an open utility that is subject to rainfall without control on the quantity of the water on it and when there is a tunnel under a railway, the water content of the soil around the tunnel is very influential. This research shows the effects of change of water content in the soil around a pedestrian tunnel under a four-track surface railway. The pedestrian tunnel and the soil block around the tunnel are modeled in 3D by the FEM and are studied under the vibrations induced by the moving trains on the four-track surface railway for different soil water contents and the effects of the soil water content on the dynamic behavior of the tunnel and the surrounding soil are demonstrated.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1848-1849
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• 2006

The new robust controller design method is proposed for the flight control systems with model uncertainties. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides us with the ability to overcome the "explosion of complexity" problem of the backstepping controller. The SRWNNs are used to observe the arbitrary model uncertainties of flight systems and all their weights are trained on-line. From the Lyapunov stability analysis, their adaptation laws are induced and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a high performance aircraft (F-16) are utilized to validate the good tracking performance and robustness of the proposed control system.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.868-873
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• 2003

$H_{\infty}$ control has been applied to the design of practical control systems widely because of its robustness. It can minimize $H_{\infty}$ norm of the transfer function between the desired output and the disturbances. The SMC(Sliding Mode Control) is more robust and give the better performance than the $H_{\infty}$ control if the matching condition is satisfied. A controller which can have the advantages of $H_{\infty}$ control and the SMC is proposed to add the robustness of the SMC to the $H_{\infty}$ controller. Its design is based on the augmented system of which dynamics have one higher order than that of the original system and has the same dynamic as the desired system in spite of uncertainties. The dynamic of proposed sliding surface is the same dynamic as the system controlled by $H_{\infty}$ controller without the uncertainties which satisfy the matching condition.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.253-256
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• 1996

In this paper, A new time-varying sliding surface design using eigenvalue locus is proposed to achieve fast and robust in a class of high-order uncertain dynamic system. A moving sliding surface(MSS) was proposed earlier for the second-order variable structure control systems(VSCS). This methodology led to fast and robust control responses of the second-order VSCS. However, the moving algorithm of the MSS was too complicated to be employed the high-order VSCS. To resolve this problem, we propose a new moving algorithm that switching surface moves such that the eigenvalues of equivalent system in the sliding mode have a predetermined locus. Using the proposed surface fast and robust behaviors are accomplished. The problem of chattering can be eliminated by using a boundary layer of switching surface. The efficiency of proposed algorithm is illustrated by an application to four-order workbench.