• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1153-1159
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• 2007

This paper presents the hardware implementation of nonlinear PID controllers for the ROBOKER humanoid robot arms. To design the nonlinear PID controller on an FPGA chip, nonlinear functions as well as the conventional PID control algorithm have to be implemented by the hardware description language. Therefore, nonlinear functions such as trigonometric or exponential functions are designed on an FPGA chip. Simulation studies of the position control of humanoid arms are conducted and results are compared. Superior performances by the nonlinear PID controllers are confirmed when disturbances are present. Experiments of humanoid robot arm control tasks are conducted to confirm the performance of our hardware design and the simulation results.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.4
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• pp.797-802
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• 2010

In this paper, a systematic procedure to design a nonlinear controller for nonlinear active magnetic bearing (AMB) systems is presented. To do this, we effectively convert the AMB system into a polytopic quasi-linear parameter varying (LPV) system, which is a representation of nonlinear state-space models and is described by the convex combination of a set of precisely known vertices. Unlike the existing quasi-LPV systems, the nonlinear weighting functions, which construct the polytopic quasi-LPV model of the AMB system by connecting the vertices, include not only state variables but also the input ones. This allows us to treat the input nonlinearity effectively. By means of the derived polytopic quasi-LPV model and linear matrix inequality (LMI) conditions, nonlinear controller that stabilizes the AMB system is obtained. The effectiveness of the proposed controller design methodology is finally demonstrated through numerical simulations.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.3
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• pp.451-457
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• 2015

In this paper, we consider the observer design problem that truly reflects the nonlinear stiffness of the manipulators. The two key ideas of our design are that (a) estimation error dynamics of the manipulator equipped with accelerometer dose not dependent on nonlinearities at the link part, when the measured signals are the motor position and the output of the accelerometer and (b) the nonlinear stiffness is indeed a Lipschitz function. In order to effectively compensate the nonlinear stiffness, the gain of the proposed observer is carefully chosen from the ARE(algebraic Riccati equations) which depend on Lipschitz constant. Comparative simulation result verifies the effectiveness of the proposed solution.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.11a
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• pp.188-190
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• 2000

This paper proposed design of robust fuzzy controller for nonlinear systems in the presence of parametric uncertainties. In the design procedure, we represent the nonlinear system using Takagi-Sugeno fuzzy model. A sufficient condition of the robust stability is presented in the sense of Lyapunov for the TSK fuzzy model with uncertainties. Finally, the effectiveness of proposed controller has been through a result of numerical simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1492-1495
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• 1996

In this paper, an approach to autopilot design based on the robust nonlinear dynamic inversion method is proposed. Both unknown parameters and uncertainty bounds are estimated and parameter estimates are used in the fast inversion. Furthermore, to get more robustness slow inversion is incorporated with MRAC(Model Reference Adaptive Control) and sliding mode control where the estimates of uncertainty bounds are used. The proposed method is applied to the pitch autopilot design of a missile system and excellent performance is shown via computer simulation.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.164-166
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• 2005

We consider a web transport system. The objective of this paper is to design the controller such that desired tension and processing on web transport system. We propose the new design method which is independent with operating condition. The proposed method used a nonlinear feedback to transform to linear system. We show a performance of controller via the simulation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.1
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• pp.14-16
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• 2006

We consider a web transport system. The objective of this paper is to design the controller such that desired tension and processing on web transport system. We propose the new design method hick is independent with operating condition. The proposed method used a nonlinear feedback to transform to linear system. We show a performance of controller via the simulation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.2
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• pp.68-73
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• 2000

This paper addresses the analysis and design of fuzzy control systems for a class of complex nonlinear systems. Firstly, the nonlinear system is represented by Takagi-Sugeno(TS) fuzzy model and the global controller is constructed by compensating each linear model in the rule of TS fuzzy model. The design of conventional TS fuzzy-model-based controller is composed of two processes. One is to determine the static state feedback gain of each local model and the other is to validate the stability of the designed fuzzy controller. In this paper, we propose an alternative methods for the design of TS fuzzy-model-based controller. The design scheme is based on the extension of conventional optimal control theory to the design of TS fuzzy-model-based controller. By using the proposed method, the design and stability analysis of the TS fuzzy model-based controller is reduced to the problem of finding the solution of a set of algebraic Riccati equations. And we use the recently developed interior point method to find the solution of AREs, where AREs are recast as the LMI formulation. A numerical simulation example is given to show the effectiveness and feasibiltiy of the proposed fuzzy controller design method.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.3
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• pp.189-194
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• 2002

This paper presents a state observer design for a class of MTMO nonlinear systems that has a block triangular structure. For this, the extension of the existing design for SISO triangular systems to MIMO cases is provided. Since the gain of the proposed observer. depends on a nonlinear part as well as a linear one of a system, it improves the transient performance of the high gain ob-server. Also, by using a generalized similarity transformation for the error dynamics, it is shown that order some boundedness condi-tion, the proposed observer guarantees the global exponential convergence of the estimation error. Finally, we will give a simulation example to show the validity of our design methodology.

• Structural Engineering and Mechanics
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• v.43 no.6
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• pp.795-821
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• 2012

The size and topology of geometrically nonlinear dome structures are optimized thereby minimizing both its entire weight & joint (node) displacements and maximizing load-carrying capacity. Design constraints are implemented from provisions of American Petroleum Institute specification (API RP2A-LRFD). In accordance with the proposed design constraints, the member responses computed by use of arc-length technique as a nonlinear structural analysis method are checked at each load increment. Thus, a penalization process utilized for inclusion of unfeasible designations to genetic search is correspondingly neglected. In order to solve this complex design optimization problem with multiple objective functions, Non-dominated Sorting Genetic Algorithm II (NSGA II) approach is employed as a multi-objective optimization tool. Furthermore, the flexibility of proposed optimization is enhanced thereby integrating an automatic dome generating tool. Thus, it is possible to generate three distinct sphere-shaped dome configurations with varying topologies. It is demonstrated that the inclusion of brace (diagonal) members into the geometrical configuration of dome structure provides a weight-saving dome designation with higher load-carrying capacity. The proposed optimization approach is recommended for the design optimization of geometrically nonlinear dome structures.