• 전력전자학회:학술대회논문집
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• 전력전자학회 2006년도 전력전자학술대회 논문집
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• pp.526-528
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• 2006

An adaptive output-feedback neural control problem of SISO strict-feedback nonlinear system is considered in this paper. The main contribution of the proposed method is that it is shown that the output-feedback control of the strict-feedback system can be viewed as that of the system in the normal form. As a result, proposed output-feedback control algorithm is much simpler than the previous backstepping-based controllers. Depending heavily on the universal approximation property of the neural network (NN) only one NN is employed to approximate lumped uncertain nonlinearity in the controlled system.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권3호
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• pp.112-121
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• 2002

This paper describes a new bike system for the postural balance rehabilitation training. Virtual environment and three dimensional graphic model is designed with CAD tools such as 3D Studio Max and World Up. For the real time bike simulation, the optimized WorldToolKit graphic library is embedded with the dynamic geometry generation method, multi-thread method, and portal generation method. In this experiment, 20 normal adults were tested to investigate the influencing factors of balancing posture. We evaluated the system by measuring the parameters such as path deviation, driving velocity, COP(center for pressure), and average weight shift. Also, we investigated the usefulness of visual feedback information by weight shift. The results showed that continuous visual feedback by weight shift was more effective than no visual feedback in the postural balance control It is concluded this system might be applied to clinical use as a new postural balance training system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1523-1526
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• 1996

This paper presents a new method of force reflection in the teleoperated mobile robot control: artificial force feedback. Generally it is well known that force feedback from slave to master increases the reality with which the operator interacts with the environment. In the applications of the teleoperated mobile robot, however, such a force feedback control algorithm has rarely appeared in the literature because the contact force between the environment and the mobile robot is not available. In this paper, a method of artificially generating the feedback force for the teleoperated mobile robot is presented in order to improve the task performance. The computed artificial force feeds into the new designed joystick so as to increase the telepresence of the environment. Through simulations, we confirm the validity and effectiveness of our algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.514-518
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• 2005

In this paper an adaptive fuzzy PI controller with feedback linearizing meth od is implemented to controlling flux and torque separately in induction motor. In this paper first decoupling of torque and flux which are outputs to be controlled, is achieved by using feedback linearization methodology. Then for reducing the effect of noise and rejection of disturbance, main part of controller which is adaptive PI fuzzy controller, is designed. Coefficients of PI controller are determined by defined fuzzy rules due to error dynamic. Inputs of fuzzy system are defined sliding surfaces which consist of torque and flux errors. The main contribution of this paper is effect reduction of noise and disturbance on torque and flux which is based on fuzzy logic and nonlinear control. At last the effectiveness of the proposed control scheme in presence of noise and load disturbance is simulated and comprised to applying sliding method. The results verify better effectiveness of the proposed method for effect reduction of noise and disturbance.

• 한국자동차공학회논문집
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• 제5권6호
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• pp.192-201
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• 1997

The feedback control scheme of the pressure control system of the rear wheel steering gear which has relatively large volume and sprung load was built up in order to improve th response characteristic of the system. The control algorithm chosen was a feedback compensator joined by a feedfoward compensator and the model matching method was used in the process of control system design. The structures and properties of the reference models were inspected and the parameters of the controller were decided. The improvement of the response characteristic of the pressure control valve by means of the feedback control is affirmed. Particularly, when the order of the system model is higher than the 2nd order, the effectiveness of the feedback control on the improvement of the response characteristic of the valve is distinct. And the convenience of the model matching method is the process of control system design is confirmed as well.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 B
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• pp.982-983
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• 2006

This paper deals with an analysis and design of the state feedback current controller's gain in the three-phase current control systems. First, this paper derives the transfer function of the closed loop current control system and also compares the state feedback current controller with the conventional proportional integral controller. A new pole placement method by using the pole/zero cancellation method is proposed to give a simple and concrete concept with respect to the pole selection. Experimental results on the permanent magnet synchronous motor show that the proposed method is very useful to design the gain of the state feedback current controller.

• 전기학회논문지
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• 제65권12호
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• pp.2053-2056
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• 2016

In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.

• 한국통신학회논문지
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• 제38A권11호
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• pp.955-966
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• 2013

본 논문에서는 ATSC DTV 시스템에서 독립적인 궤환간섭 제거기(Feedback Interference Canceller: FIC)를 가지는 등화형 디지털 동일채널 중계기(Equalization Digital On-Channel Repeater: EDOCR)의 궤환간섭 제거 성능 향상을 위한 새로운 구조의 FIC를 제안한다. FIC는 기준신호와 궤환되는 신호의 상관관계를 이용하여 궤환채널을 추정하는데, ATSC DTV 방송 신호는 신호의 상관관계 특성을 저해하는 DC 파일럿을 포함하고 있으므로 FIC로 하여금 정확한 궤환채널 추정을 수행하지 못하게 한다. 이러한 문제를 해결하기 위해, EDOCR과 FIC의 결합 구조에 기반하여 EDOCR에서 신호 재변조 시 DC 파일럿을 포함하지 않는 기준신호를 추가적으로 생성하여 궤환채널 추정에 사용하는 DC 파일럿 없는 기준신호 기반 FIC와 디지털 신호처리를 통해 입력신호들을 백색화하여 DC 파일럿을 제거한 후 궤환채널을 추정하는 백색화된 신호 영역 FIC를 제안한다. 모의실험을 통해, 제안된 두 FIC 구조 모두 기존의 상관관계 제거형 FIC에 비해 우수한 궤환간섭 제거 성능을 가짐을 보인다.

• 한국통신학회논문지
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• 제33권3A호
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• pp.327-334
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• 2008

동일 채널 중계기에서는 송 수신 신호간의 간섭으로 인해 중계기의 출력이 제한되는 문제점이 있다. 이러한 문제를 해결하기 위해 중계기에서 수신 신호를 복조하여 궤환채널을 추정하고 궤환신호를 제거하는 방법이 제시되었으나, T-DMB 시스템과 같이 파일럿 간격이 넓은 시스템에 복조형 궤환신호 제거방법을 적용할 경우 궤환채널 추정 속도가 느리다는 단점이 있다. 이를 극복하기 위해 본 논문에서는 시간영역의 파일럿을 여러 개의 서브 그룹으로 분할하여 궤환채널을 추정함으로써 적응 필터의 갱신 횟수를 증가시킬 수 있는 방법을 제안한다. 제안된 방법은 궤환채널 추정 속도를 개선하여 궁극적으로 궤환신호 제거 성능을 향상시킨다. 모의실험을 통해 제안된 방법이 기존 방법에 비해 궤환채널 추정 속도와 잔류 궤환신호 전력 (RFP) 측면에서 우수함을 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1906-1908
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• 2004

We propose a result on the stabilization of nonlinear time-delay systems via the feedback linearization method. Using the predictor based control and the parametric coordinate transformation, we introduce a stabilizing controller to compensate time delay. Specifically, we present the delay-dependent stability analysis to makes the considered system stable. Also, an illustrative example is provided