• Journal of Mechanical Science and Technology
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• 제18권8호
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• pp.1288-1296
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• 2004

Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance to the wall. This paper proposes wall-following controllers based on Lyapunov function candidate for a two-wheeled mobile robot (MR) to follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based on Busawon's observer as only the distance error is measured. Additionally, the simulation and experimental results are included to illustrate the effectiveness of the proposed controllers.

• 한국항공우주학회지
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• 제49권8호
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• pp.627-636
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• 2021

본 논문에서는 재사용발사체 유도제어에 관한 연구를 다루었다. 이를 위하여 6자유도의 재사용발사체 운동방정식 모델링을 수행하였으며, 이를 이용하여 최적 재진입경로를 생성 및 해당 경로를 추종하는 유도제어 시뮬레이션을 수행하였다. 유도제어기 설계를 위하여 모델링 불확실성, 외란 및 고장에 강한 시간지연기법을 적용한 자세제어기와 비선형 유도법칙을 이용하였다. 고전적인 PD 제어기를 적용한 유도제어 시뮬레이션을 수행하여 시간지연기법을 적용한 재사용발사체의 유도제어 시뮬레이션과 비교 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.565-568
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• 1995

This paper presents the position control of a closed-loop cylinder system using ER(electro-rheological)valve actuators. Following the field-dependent pressure analysis of the ER valve actuators on the basis of Bingham model of ER fluids, a 3 d.o.f. close-loop sylinder system having the heave, roll and pitch motions is proposed. The governing equations of motion are derived using Lagrange's equation, and a control model is established by considering system uncertain parameters such as load conditions. A sliding mode controller which has inherent robustness to system uncertainties is adopted to achieve robust tracking control performance. Tracking control results for sinusoidal trajectory were presented in order to demonstrate the effectiveness of the proposed control system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.26-28
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• 2004

The sliding mode control law provides a robust solution for general control problems. Most real systems which use a portable hard disk drive have to overcome disturbances and model uncertainties for proper operation. The chattering effect caused from unexpected oscillation can make the system be unstable. Therefore, we propose a robust control algorithm for the nonlinear second order systems with model uncertainties and disturbances. The proposed algorithm is designed following a sliding mode and observer based control. Thus the proposed algorithm has more expanded bounded region of control. Simulation results show the robustness of the proposed controller.

• 대한기계학회논문집A
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• 제23권11호
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• pp.1982-1992
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• 1999

This paper presents a novel concept of cargo handling system adapted for a sea port subjected to severe time-varying tide. The proposed system can perform loading or unloading by using a sort of hydraulic elevator associated with real-time position control. In order to achieve a proof-of-concept, a small-sized laboratory model of the cargo handling system is designed and built. The model consists of three principal components container palette transfer (CPT) car, platform with lifting columns, and cargo ship. The platform activated by electro-rheological (ER) valve-cylinders is actively controlled to track the position of the cargo ship subjected to be varied due to the time-varying tide and wave motion. Following the derivation of the dynamic model for the platform and cargo ship motions, an appropriate control scheme is formulated and implemented. The location of the CPT car is sensed by a set of photoelectric switches and controlled via sequence controller. On the other hand, a sliding mode controller (SMC) is adopted as the position controller for the platform. Both simulated and measured control results are presented to demonstrate the effectiveness of the proposed cargo system.

• 대한치과기공학회지
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• 제13권1호
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• pp.15-19
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• 1991

This study was made to effect on the porosity when model making for control of vibrator. Samples of total 600 were made by plaster and stone divided low, medium and high which is 100 each. The following results were obtained to observation porosity of surface by eyes. 1. Second stage was fewer than third stage, first stage was fewer than third stage in porosity number of plaster model. 2. Second stage was fewer than first stage in porosity number of stone model. 3. Stone model was fewer than plaster model in porosity number of third stage.

• 한국항해항만학회지
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• 제47권1호
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• pp.10-17
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• 2023

최근 자율운항선박 개발을 위한 연구가 국내외에서 추진 중에 있다. 자율운항선박 개발에서 핵심기술 중 하나는 항로추종인데, 항로추종은 선박의 안전성 확보에 중요하기 때문에 자율운항선박 설계 시 사전평가 해야 한다. 본 연구의 목적은 자율운항선박 설계 시 항로추정성능의 시각적 및 정량적 평가기법을 개발하기 위한 것이다. 이 평가기법은 전산유체역학 기반의 자유 항주 모델과 LOS(Line-of-Sight) 알고리즘을 연계하여 개발하였다. 평가기법 중, 시각적 평가는 항로추종 중인 선박에 의해 생성되는 파계를 전산유체역학 소프트웨어를 이용하여 가시화하여 평가하고, 정량적 평가는 목표 선수방위각과 추정 선수방위각 사이의 차이 값과 계획항로와 추종항로 사이의 거리 차이 값을 이용하여 평가하였다. 항로추종성능 평가 결과, 항로추종 중 변침지점 부근에서 항로이탈편차가 크게 발생함을 알았고, 또한 선박 주위 유동의 시각화를 통해 선박 주위 유체 현상을 쉽게 파악할 수 있었다. 본 연구에서 제안한 평가기법은 자율운항선박 설계 시 항로추정성능 평가에 관한 시각적 및 정량적 평가에 기여할 것으로 기대된다.

• 한국정보전자통신기술학회논문지
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• 제16권6호
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• pp.472-477
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• 2023

본 논문에서는 쿼드콥터 드론이 동적인 외부 환경 아래서도 외란에서도 효과적으로 경로를 추종하고 비행 안전성을 유지할 수 있도록 모델 예측 제어(MPC) 기법을 제안한다. MATLAB/Simulink에서 수행된 시뮬레이션을 통해, 외란이 주어지는 비행 시나리오에서 PID와 MPC 두 제어기의 성능을 비교한다. 제안된 설계 방법으로 MPC 제어기가 압력 변화와 공기 밀도 변동과 같은 외란에 대하여 MPC와 PID 제어기의 성능을 비교했을 때에 쿼드콥터 드론의 입력받은 주행 경로와 실제 경로의 Mean Squared Error 수치가 외란을 주기 전에는 0.2의 성능 차이를 보였다. 그리고, 외란을 주었을 때에는 0.8을 차이를 보이며 MPC 제어기의 향상된 경로 추종 정확도를 보여준다.

• Journal of Oral Medicine and Pain
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• 제16권1호
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• pp.33-72
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• 1991

The purpose of this study was to investigate the stress distribution and the displacement in the temporomandibular joints following the teeth loss patterns. The three dimensional finite element method was used for a mathematical model. The finite element model was composed of 1,632 elements and 2,411 nodes in the mandible with articular disc and mandibular fossa of the temporal bone. The masseter, the temporal and the internal pterygoid muscle forces were applied at each insertion site, bisecting point of gonion and antegonion, tip of the coronoid process, and gonion at the ration of 2:2:1 respectively. The directions of muscles force were obtained from frontal and lateral cephalometric tracings using bony landmarks of the skull. The results were as follows : 1. In control model, the minimum principal stresses were concentrated on the region of anterosuperior part of the condyle head and articular disc, and maximum principal stresses on the anterior part of the condyle head and posterolateral part of the articular disc. 2. In case of unilateral teeth loss, the greater principal stress appeared at the teeth loss side and the principal stresses increased at the teeth loss side as the number of the posterior teeth loss went up. 3. In case of bilateral teeth loss, the principal stresses were greater than those of the control model and as the number of the posterior teeth loss increased, the grater principal stresses on the temporomandibular joints appeared at the both side. 4. When the posterior teeth existed bilateral, the principal stress patterns were similar to those of the control model. 5. The displacement ws directed mainly upward and backward in the upper part of the temporomandibular joints and upward and forward in the largest part of the condyle head. The displacement increased as the number of the posterior teeth loss went up.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.871-875
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• 1996

The Output feedback linear quadratic regulator control is applied to the design of active suspension system using 7 DOF full car model. The performance index reflects the vehicle vertical movement, pitch and roll motion, and minimization of suspension stroke displacements in the rattle space. The elements of gain matrix are approximately decoupled so that each suspension requires only local information to generate the control force. The simulation results indicates that the output feedback LQ controller is more effective than purely passive or full state feedback active LQ controllers in following the road profile at the low frequency range and suppressing the road disturbance at the high frequency ranges.