• 제어로봇시스템학회논문지
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• 제10권1호
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• pp.15-21
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• 2004

This paper deals with asymptotic stabilization problems for linear systems with time-varying input disturbances. In order to eliminate the influence of a disturbance on the system, a disturbance observer is designed and the time-varying disturbance can be rejected using its estimated value. Since the disturbance observer is kind of low-pass filter, it has inevitably estimation errors. To eliminate the inflences on the performance due to these errors, the additional control is designed based on these estimation errors using a well-known min-max control method. It is shown that the asymptotic stability of the closed-loop system is guaranteed. In general, the min-max control method requires the switching of control inputs and the switching magnitude of the control input is determined by the disturbance estimation error bounds. As the error bounds can be made arbitrarily small by choosing the high gain for the disturbance observer, the control method suggested in this paper can reduce the chattering phenomena as small as possible. Therefore, it has superior performance to the existing ones.

• International Journal of Aeronautical and Space Sciences
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• 제15권2호
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• pp.153-162
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• 2014

A novel robust $H_{\infty}$ switching tracking control design method with disturbance observer is proposed for the near space interceptor (NSI) with aerodynamic fins and reaction jets. Initially, the flight envelop of the NSI is divided into small subregions, and a slow-fast loop polytopic linear parameter varying (LPV) model is proposed, to approximate the nonlinear dynamic of the NSI, based on the Jacobian linearization and Tensor-Product (T-P) model transformation approach. A disturbance observer is then constructed, to estimate the modeled disturbance. Subsequently, based on the descriptor system method, a robust switching controller is developed, to ensure that the closed-loop descriptor system is stable with a desired $H_{\infty}$ disturbance attenuation level. Furthermore, the outcome of the proposed switching tracking control problem is formulated as a set of linear matrix inequalities (LMIs). Finally, simulation results demonstrate the effectiveness of the proposed design method.

• 전기학회논문지
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• 제59권6호
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• pp.1179-1185
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• 2010

This paper deals with a robust controller design problem for a small one-link robot arm system subject to input time delay and load variations. The uncertain parameters of the system are considered as a disturbance input. A disturbance observer(DOB) has been designed to alleviate disturbance effects and to compensate performance degradation owing to the time-delay. This paper employs a new DOB structure for non-minimum phase systems together with the Smith predictor. We propose a new controller for reducing the both effects of disturbance and time-delay. In order to test the performance of proposed controller, four different other control laws are compared with the proposed one by computer simulations. The simulation results show the effectiveness of the proposed control method.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.1170-1175
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• 2003

Recently, the disturbance caused by an optical disk vibration and the external vibration/shock are more serious problem in an optical disk drives (ODD) as an ODD become small size and rotation speed increases. The conventional controller cannot cope with the mentioned problems properly when the disturbance and vibration are larger than some range. Therefore, we propose a new control scheme using a disturbance observer (DOB) and it can control the aforementioned problems. The designed the controller is applied to a commercial ODD in focusing direction, then its validity is proved by experimental method. By rising the disturbance observer theory, the focusing performance is conspicuously improved in the presence of sinusoidal vibrations or a shock disturbance. This algorithm also applies to a tracking structure also, because focusing structure is very similar to it.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2046-2048
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• 2003

In this paper, a neural disturbance observer(NDO) is developed and its application to the control of a nonlinear system with the internal and/or external disturbances is presented. To construct the NDO, a parameter tuning method is proposed and shown to be useful in adjusting the parameters of the NDO. The tuning method employes the disturbance observation error to guarantee that the NDO monitors unknown disturbances. Each of the nodes of the hidden layer in the NDO network is a radial basis function(RBF). In addition, the relationships between the suggested NDO-based control and the conventional adaptive controls reported in the previous literatures are discussed. And it is shown in a rigorous manner that the disturbance observation error converges to a region of which size can be kept arbitrarily small. Finally, an example and some computer simulation results are presented to illustrate the effectiveness and the applicability of the NDO.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2079-2081
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• 2002

R/C helicopter has been used to several fields of military affairs, investigation searching and toys because it has small size hovering and vortical take-off characteristics etc. Therefore it needs more realizable control method. The paper introduces simulation and experimental results for control of a helicopter training simulator by self tuning control method. To realize the disturbance rejection and the given reference tracking, a least common multiple polynomial between the reference and disturbance model polynomials is operated to the plant model. The effectiveness of the method is shown by simulation and experimental results for a helicopter training simulator with two degree of freedom.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.538-543
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• 2003

Perforated wall has long been employed to control a variety of flow phenomena. It has been, in general, characterized by a porosity of the perforated wall. However, this porosity value does not take account of the number and detailed shape of porous holes, but is defined by only the ratio of the perforated area to total wall surface area. In order to quantify the porous wall effects on the flow control performance, an effective porosity should be known with the detailed flow properties inside the porous holes. In the present study, a theoretical analysis using a small disturbance method is performed to investigate detailed flow information through porous hole and a computational work is also carried out using the two-dimensional, compressible Navier-Stokes equations. Both the results are compared with existing experimental data. The gasdynamical porosity is defined to elucidate the effect of perforated wall.

• 한국소음진동공학회논문집
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• 제12권11호
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• pp.864-872
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• 2002

In this study, the effect of planform curvature on the stability of coupled flow/structure vibration is examined in transonic and supersonic flow regions. The aeroelastic analysis for the frequency and time domain is performed to obtain the flutter solution. The doublet lattice method(DLM) in subsonic flow is used to calculate unsteady aerodynamics in the frequency domain. For all speed range, the time domain nonlinear unsteady transonic small disturbance code has been incorporated into the coupled-time integration aeroelastic analysis (CTIA). Two curved wings with experimental data have been considered in this paper MSC/NASTRAN is used for natural free vibration analyses of wing models. Predicted flutter dynamic pressures and frequencies are compared with experimental data in subsonic and transonic flow regions.

• 보험의학회지
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• 제2권1호
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• pp.122-127
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• 1985

The basis for determining hearing disturbance adopted by the Life Insurance Industry is the loss of hearing power above 80 db on either or both sides, in accordance with the divide sixth method of audiometric test. Different types of small-to-medium-sized enterprises were chosen for the study of the extent of loss and the power of hearing. The following are the findings: 1. The disturbance percentage found among the types of occupation and different levels of age was found to be higher as the subject's ages increased. 2. The heavier the workload and the noisier the environment, the higher the percentage of disturbance. The average percentage of the subjects turned out to be 24.35%. Those engaged in sawing and wood-work showed 49%. Those engaged in machinery and equipment for transportation accounted for 42.6%. Those engaged in the metal products occupied 39.6%. The disturbance percentage among those engaged in such noisy works as press, pipe and sawing showed 32.52%. 28.46% of those workers with three to four years employment turned out to be disturbed in hearing. Of these, a high percentage of 43.9% showed disturbance in conversation or talk. 3. No hearing loss due to occupation beyond the Life Insurance standard of 80 db was found; therefore, the present status poses no problem. Constant attention, however, is needed.

• 전자공학회논문지SC
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• 제39권4호
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• pp.6-15
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• 2002

본 논문에서는 로봇 매니퓰레이터의 제어에 사용할 수 있는 신경망 외란 관측기를 제안하도록 한다. 제안한 신경망 외란 관측기는 다층신경망의 구조로 신경망 외란관측기의 오차와 제어 오차가 충분히 작은 콤팩트 집합에 절대 상시 유계된다. 본 논문에서 제안하는 신경망 외란 관측기는 기존의 적응 제어기의 단점을 해결한 방식으로 복잡한 회귀 모델을 필요로 하지 않는다. 끝으로 제안한 방식을 3관절 로봇에 적용하여 그 타당성을 확인한다.