• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.257-260
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• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.116.5-116
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• 2002

In remote control of telerobotics equipment, the real-time visual feedback is necessary in order to facilitate real-time control. Because of the network congestion and the associated delays, the real-time image feedback is generally difficult in the public networks like internet. If the remote user is not able to receive the image feedback within a certain time, the work performance may tend to decrease, and it makes difficulties to control of the telerobotics equipment. In this paper, we propose an improved visual feedback scheme over the internet for telerobotics system. The size of a remote site image and its quality are adjusted for efficient transmission. The constructed system has a be...

• 대한전자공학회논문지
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• 제22권3호
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• pp.31-42
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• 1985

DC motor를 제어하기 위하여, 두개의 feedback sensor 즉, potenfiometer와 tachometer를 사용하고 있다. 최적 제어치를 얻기위한 제어 방법으로써 선형계로써는 kalman regular type, 비 선형계로써는 on-off relay-type와 상태 제환을 적용하였다. 역시, 추적각의 측정 방법으로서는. 측정치를 이웅한 위치와 속도 미분치를 이용한 위치와 속도, 그리고 관측기를 이용한 위치, 속도와 오제곱 분산치를 추정하여 추적각의 제어치를 비교 분석하였다.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.19-27
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• 2003

It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition called output feedback exponential passivity (OFEP). The designed high-gain adaptive controller has simple structure and high robustness with regard to bounded disturbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we design a robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances. The effectiveness of the proposed method is shown by numerical simulations.

• 제어로봇시스템학회논문지
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• 제20권8호
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• 제어로봇시스템학회논문지
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• 제12권7호
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• pp.621-630
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• 2006

The T-50 advanced trainer aircraft combines advanced aerodynamic features and a fly-by-wire flight control system in order to produce a stability and highly maneuverability. The flight control system both longitudinal and lateral-directional axes to achieve performance enhancements and improve stability. The T-50 employs the RSS concept in order to improve the aerodynamic performance in longitudinal axis and the longitudinal control laws employ the dynamic inversion with proportional-plus-integral control method. And, lateral-directional control laws employ the blended roll system both beta-betadot feedback and simple roll rate feedback with proportional control method in order to guarantee aircraft stability. This paper details the design process of developing lateral-directional control laws, utilizing the requirement of MIL-F-8785C and MIL-F-9490D. And, this paper propose the analysis of aircraft characteristics such as dutch-roll mode, roll mode, spiral mode, gain and phase margin about gains for lateral-directional inner loop feedback.

• 한국통신학회논문지
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• 제18권3호
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• pp.372-384
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• 1993

로보트 제어와 로케트의 자세 제어에 관련하여 도립 진자 시스템은 제어 이론과 응용면에서 흥미 있는 문제이다. 일반적으로 도립 진자 시스템을 제어하기 위하여 소신호 모델에 의한 근사화 모델이 사용되었다. 본 논문에서는 미분 다양체 이론을 기초로 한 비선형 제어 이론을 도입 진자 시스템에 적용하고자 한다. 먼저 비선형 모델을 비선형 상태 궤환을 이용하여 근사 선형화 모델로 변환시키고, 선형화 모델에 극점 배치를 통하여 선형 제어기를 설계하였다. 컴퓨터 시뮬레이션을 통하여 제안된 기법을 Tayler 급수의 3차 선형화모델과 비교하였다.

• Nuclear Engineering and Technology
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• 제54권6호
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• pp.2048-2054
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• 2022

The coolant temperature feedback coefficient is an important parameter of reactor core power control system. To study the coolant temperature feedback coefficient influence on the core power control system of small PWR, the core power control system is built with the nonlinear model and fuzzy control theory. Then, the uncertainty quantification method of reactor core parameters is established based on the Latin hypercube sampling method and the Bootstrap method. Finally, under the conditions of reactivity step perturbation and coolant inlet temperature step perturbation, uncertainty analysis for two cases is carried out. The result shows that with fuzzy controller and fuzzy PID controller, the uncertainty of the coolant temperature feedback coefficient affects the core power control system, and the maximum uncertainties of core relative power, coolant temperature deviation, fuel temperature deviation and total reactivity are acceptable.

• International Journal of Air-Conditioning and Refrigeration
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• 제10권2호
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• pp.106-115
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• 2002

The performance of an inverter-driven water-to-water heat pump with an electronic expansion valve (EEV) was measured as a function of compressor frequency, load conditions, and EEV opening. Based on the test results, a controller using proportional integral (PI) feedback or PI feedforward algorithm was designed and tested to investigate capacity modulation and transient response control of the system. Although the relation between superheat and EEV opening of the heat pump showed nonlinear characteristics, a control gain obtained at the rated frequency was applicable to various operating conditions without causing large deviations. When the simple PI feedback control algorithm was applied, a large overshoot of superheat and wet compression were observed due to time delay effects of compressor frequency. However, applying PI feedforward control scheme yielded better system performance and higher reliability, compared to the PI feedback algorithm.

• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.379-387
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• 2007

In this paper, a nonlinear anti-sway controller for container cranes with load hoisting is investigated. The considered container crane involves a planar motion in conjunction with a hoisting motion. The control inputs are two (trolley and hoisting forces), whereas the variables to be controlled are three (trolley position, hoisting rope length, and sway angle). A novel feedback linearization control law provides a simultaneous trolley-position regulation, sway suppression, and load hoisting control. The performance of the closed loop system is shown to be satisfactory in the presence of disturbances at the payload and rope length variations. The advantage of the proposed control law lies in the full incorporation of the nonlinear dynamics by partial feedback linearization. The uniform asymptotic stability of the closed-loop system is assured irrespective of variations of the rope length. Simulation and experimental results are compared and discussed.