• International Journal of Aeronautical and Space Sciences
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• 제13권1호
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• pp.90-98
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• 2012

In this paper, the Integrated Guidance and Control (IGC) law is proposed for the Rotary Unmanned Aerial Vehicle (RUAV). The objective of the IGC law is to consider the nonlinear dynamic characteristics of the RUAV and to design a guidance law which takes into consideration the nonlinear relationship between kinematics and dynamics. In order to control the RUAV system, sliding mode control scheme is adopted. As the RUAV is an under-actuated system, a slack variable approach is used to generate the available control inputs. Through the Lyapunov stability theorem, the stability of the proposed IGC law is proved. In order to verify the performance of the IGC law, numerical simulations are performed for waypoint tracking missions.

• 전기학회논문지
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• 제57권9호
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• pp.1669-1673
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• 2008

A new cycle ergometer using a Magneto-Rheological (MR) rotary brake system has been developed for rehabilitation of hemiplegia patients to reduce uneven pedaling characteristics. For this purpose, a control method to adjust the resistance of the MR rotary brake in real time based on the magnitude of the muscular force exerted by the subject has been devised so that the mechanical resistance to the pedaling can be minimized when the affected leg was engaged for pedaling. A series of experiments were carried out with and without the engagement of this real-time control mode of MR rotary brake at different pedaling rate to find out the effect of the real-time control mode. The characteristics of the pedaling for these specific conditions were analyzed based on the variations in angular velocities of the pedal unit. The results showed that the variations in the angular velocities were decreased by 42.9% with the control mode. The asymmetry of pedaling between dominant and non-dominant leg was 19.63% in non-control mode and 1.97% in the control mode. The characteristics of electromyography(EMG) in the lower limbs were also measured. The observation showed that Integrated EMG(IEMG) reduced with the control mode. Therefore, the new bicycle system using MR brake with the real time control of mechanical resistance was found to be effective in recovering the normal pedaling pattern by reducing unbalanced pedaling characteristics caused by disparity of muscular strength between affected and unaffected leg.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.901-904
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• 1998

In this paper, we describes PID-neural network controller for the rotary inverted pendulum. PID control is applied to many fields but has some problems in nonlinear system due to a variation of parameter. So, we should desing the controller which is adjusted PI parameters by the neural network which is learned by backpropagation algorithm. And we show that on-line control is possible through the PID-neural network controller. The angle of the pendulum is controlled and then the position of the rotating arm is also controlled to maintain with in the set point. Measurement of the pendulum angle is obtained using a potentionmeter. The objective of the experiment is to design a PID-neural network control system that positions the arm as well as maintains the ivnerted pendulum vertical. Finally, we describe the actual experiment system and confirm the experimental results.

• 제어로봇시스템학회논문지
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• 제14권6호
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• pp.548-553
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• 2008

In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권2호
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• pp.109-114
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• 2002

Various inverted pendulum systems have been frequently used as a model for the performance test of the proposed control system. We first identify a rotary-type inverted pendulum system by the Euler-Lagrange method and then design a FLC (Fuzzy Logic Controller) fur the plant. FLC`s are one of useful control schemes fur plants having difficulties in deriving mathematical models or having performance limitations with conventional linear control schemes. Many FLC`s imitate the concept of conventional PD (Proportional-Derivative) or PI (Proportional-Integral) controller. That is, the error e and the change-of-error are used as antecedent variables and the control input u the change of control input Au is used as its consequent variable for FLC`s. In this paper we design a simple-structured FLC for the rotary inverted pendulum system. We also perform some computer simulations to examine the tracking performance of the closed-loop system.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2569-2572
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• 2003

In this paper, we Proposed the inverted pendulum control method using single neuron neural network that have weights as PID parameters. The proposed method has three inputs(proportion, integration, differentiation term of the error), and uses weights as P, I, D parameters. In order to verify the effectiveness of the proposed method, we experimented on the rotary inverted pendulum with load effect disturbance. The results showed the effectiveness and robustness of the proposed pendulum controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.999-1003
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• 1992

In the paper, a hybrid control approach for the swing-up control of a rotary type inverted pendulum is treated using one-chip microcomputer. The control approach is composed by a scheduling logic control for swing up control and the linear state feedback control to achieve the disired inverted-state of the pendulum. The experimental cystem has been implemented by a 16-bit one-chip microcomputer with 3096 opu as the digital controller incorporating the above mentioned control approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.596-600
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• 1986

This paper describes a capacitively reading apparatus for determining the angular orientation, speed and/or direction of rotary objects such as shaft, dial hand, counter wheel and the like. The apparatus consists of sensing device and circuit accompanying with said sensing device. The sensing device is provided by arranging many stationary electrodes lying substantially on a surface of a stationary plane member and by arranging rotary electrode lying substantially on a surface of rotary objects to be monitored, in which said rotary electrode is in confronting relationship to some stationary electrodes so as to construct unique capacitors according to the angular position of rotary objects. The angular position of said rotary electrode is determined by sets of stationary electrodes which are in confronting relationship to rotary electrode. A carrier signal is generated by scanning device while scanning said stationarelectrodes, whose periods are in corresponding relationship to said stationary electrodes, respectively. The periods of carrier corresponding to the angular position of said rotary electrode is modulated by a modulation signal generated by detecting device according to said rotary electrode. This apparatus is applied to automatically monitor any kind of storage tank, as well as to automatically read the conventional utility meters such as Watthour meters, Gas meters, Water meters, etc..

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.290-294
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• 1996

In many application, LBLDCM is special-purpose devices in that, unlike their rotary counterparts, LBLDCM is tailored to specific needs. Whereas a rotary machine or a rotary motor interface with the mechanical systm through the shaft, a linear motor often interacts with the moving member(of the "rotor"), which is the mechanical system itself. This paper focuses on the load characteristics of LBLDCM.of LBLDCM.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2815-2817
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• 2005

This paper presents an experiment study on the control of a rotary-type inverted pendulum based on the Takagi-Sugeno (T-S) fuzzy model approach. A sufficient condition for stability of the T-S fuzzy control system is given via linear matrix inequalities (LMIs). State-feedback controllers for sub-systems are designed from the sufficient condition via change of variables which is one of the popular LMI techniques. Experimental results on a rotary-type inverted pendulum control show the feasibility of the T-S fuzzy model-based control method.