• 대한전자공학회논문지TE
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• 제37권2호
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• pp.96-104
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• 2000

이 논문에서는, 동일한 제어 대상이 대칭 구조로 상호 결합된 대규모 시스템(large-scale systems)의 선형 모델의 제어에 강건한 H/sub ∞/제어 설계 방법을 적용하였다. 2D 수평운동 로봇 시스템에 대하여, 부분 제어 대상에 대한 외생 입력을 하나의 부분 시스템에 대한 불확실성으로 간주하고, 이 불확실성에 대하여 강건 안정 성능을 가지는 H/sub ∞/ 강건 제어기를 설계하였다. 설계된 H/sub ∞/ 제어기의 성능은, 모의/실물 실험을 통하여, PD제어기의 성능과 비교하여 검토하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제38권6호
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• pp.710-715
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• 2014

본 논문에서는 비선형 시스템의 제어를 위해 제어기에 적응성을 부여하는 퍼지 기반 적응제어 기법에 대해 다룬다. 이를 위해 우선 비선형 시스템을 작동점 또는 파라미터 변화에 따라 여러 개의 서브시스템으로 선형화 한다. 다음으로 각 서브시스템에 대해 선형제어 기법으로 서브제어기를 설계하고, 이 서브제어기 이득을 퍼지규칙을 이용하여 융합한다. 제안한 기법을 비선형 시스템이면서 구조적으로 불안정한 도립막대 시스템에 적용하여 시뮬레이션을 실시하고, 기존의 보간 기반의 적응 제어기법과 성능을 비교하여 그 유효성을 확인한다.

• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.102-108
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• 2001

In this paper, an active noise controller for a communication headset was designed. In a communication headset, there exist information signals such as voices from the end for the communication line as well as also, undesirable noises with are induced by external noise sources such as engine noises. Therefore, it is necessary to reduce the external noises for clear hearing of the communication signals. This problem was solved by robust H(sub)$\infty$ controller to reduce noise and a compensator for information signals The designed controller was implemented using TMS320C31 DSP Op-amp, and several experiments were performed to verify its performance. The results showed that the controller reduces the undesirable noises sufficiently, while communication signals are not reduced.

• Journal of Electrical Engineering and Technology
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• 제13권5호
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• pp.1791-1797
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• 2018

Sub-Synchronous Resonance (SSR) is a phenomenon that harms turbine generator shafts because the phenomenon induces sub-synchronous wavering in the system. In the study presented in this paper, a dynamic resistance bank is used to mitigate the occurrence of sub-synchronous phenomenon. A fuzzy logic controller using rotor speed deviation and its derivative as inputs is implemented to damp sub-synchronous oscillations more efficiently. An eigenvalue technique is used to analyse the stability of the system, and a simulation in MATLAB is conducted, based on the IEEE Second Benchmark, to validate the effectiveness of the proposed method under a 3-phase fault condition at an infinite bus. The time-domain simulation and eigenvalues are used to observe the proposed method's superior ability to damp sub-synchronous oscillation.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권2호
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• pp.55-60
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• 2002

This paper presents a controller for the multiple DC motors using the CAN(Controller Area Network). The controller has a benefit of reducing the cable connections and making the controller boards compact through the network including expansibility. CAN, among the field buses, is a serial communication methodology which has the physical layer and the data link layer in the ISO's OSI (Open System Interconnect) 7 layered reference model. It provides the user with many powerful features including multi-master functionality and the ability to broadcast / multicast telegrams. When we use a microprocessor chip embedding the CAN function, the system becomes more economical and reliable to react shortly in the data transmission. The controller, we proposed, is composed of two main controllers and a sub controller, which have built with a one-chip microprocessor having CAN function. The sub controller is plugged into the Pentium PC to perform a CAN communication, and connected to the main controllers via the CAN. Main controllers are responsible for controlling two motors respectively. Totally four motors, actuators for the biped robot in our laboratory, are controlled in the experiment. We show that the four motors are controlled properly to actuate the biped robot through the network in real time.

• 전력전자학회논문지
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• 제7권3호
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• pp.237-243
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• 2002

단상 위상각제어시스템의 경우 제어기의 구조상의 단순함과 저가격화로 인해 많은 노이즈가 발생함에도 불구하고 트라이액 교류 위상각제어기를 속도제어기로 사용하고 있다. 시판되는 진공청소기의 경우 트라이액의 위상각을 조절하여 속도를 제어하고 있는데 고조파전류의 발생을 최소화로 하기 위해서 속도의 선형성을 고려하지는 않고 제작하고 있는 경우가 대부분이다. 본 논문에서는 진공청소기용 위상각 제어기에 파라미터 추정에 의한 실제작 시스템으로 고조파가 많이 발생되는 특정 트라이액 트리거 위상각에서도 고조파전류가 효과적으로 감소되고 부수적으로 지연각이 없어지는 고조파전류 감쇠용 위상제어기의 설계 및 제작하여 실험을 통해 입증하였다.

• 한국정밀공학회지
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• 제20권2호
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• pp.94-103
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• 2003

In case of environment requiring safety such as human body and requiring flexible shape, a conventional mechanical actuator system does not satisfy requirements. Therefore, in order to solve these problems. a research of various smart material such as EAP (Electro Active Polymer), EAC (Electro Active Ceramic) and SMA (Shape Memory Alloy) is in progress. Recently, the highest preferring material among various smart material is EP (Electrostictive Polymer), because it has very fast response time, powerful force and large displacement. The previous researches have been studied properties of polymer and simple control, but present researches are studied a polymer actuator. An EP (Electostrictive Polymer) actuator has properties which change variably ils shape and environmental condition. Therefore, in order to coincide with a user's purpose, it is important not only to decide a shape of actuator and mechanical design but also to investigate a efficient controller. In this paper, we constructed the control logic with an adaptive fuzzy algorithm which depends on the physical properties of EP that has a dielectric constant depending on time. It caused for a sub-actuator to operate at the same time that a sub-actuator system operation increase with a functional improvement and control efficiency improvement in each actuator, hence it becomes very important to manage it effectively and to control the sub-system which Is operated effectively. There is a limitation on the management of Main-host system which has multiple sub-system, hence it brings out the Multi-Vehicle Control process that disperse the task efficiently. Controlling the multi-dispersion system efficiently, it needs the research of Main-host system's scheduling, data interchange between sub-actuators, data interchange between Main-host system and sub-actuator system, and data communication process. Therefore in this papers, we compared the fuzzy controller with the adaptive fuzzy controller. also, we applied the scheduling method for efficient multi-control in EP Actuator and the algorithm with interchanging data, protocol design.

• 제어로봇시스템학회논문지
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• 제7권3호
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• pp.183-192
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• 2001

In this paper, the decoupling H(sub)$\infty$ controller which minimizes the maximum energy in the output signal is designed to reduce the coupling properties between the input/output variables which make it difficult to control a system efficiently. The state-space formulas corresponding to the existing transfer matrix formulas of the controller are derived for computational efficiency. And for a given decoupling $H_{\infty}$ problem, an efficient method are sought to find the controller coefficients through the LMI(Linear Matrix Inequalities) method by which the problem is formulated into a convex optimization problem.

• 한국항공우주학회지
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• 제42권10호
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• pp.842-850
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• 2014

본 논문은 예측하지 못한 외부 환경 요소 변화로 인해 저하되는 비행 성능을 $L_1$ 적응 제어 기법으로 보상하는 궤적 추종 기법을 제안하였다. 제안된 궤적 추종 기법은 상대 거리를 이용하여 속도 명령을 생성하는 유도 법칙과 속도 명령을 추종하는 적응 제어 루프로 구성되어 있다. 경로 추종 성능을 향상시키기 위하여, 유도 법칙에서 생성한 속도 명령이 적응 제어기의 기준 입력이 되도록 설계하였다. 유도 법칙에서는 목표 궤적과 상대 거리와 그 변화량에 따른 가속도 명령이 생성되며, 이를 적분하여 속도 명령을 생성한다. $L_1$ 적응 제어 루프는 불확실성이 존재하는 환경에서 정밀한 경로 추종 성능을 보장한다. 제안된 경로 추종 시스템은 쿼드로터 항공기를 사용하여 수직 이착륙 및 이동 표적 추종과 같은 비행 실험으로 검증하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 추계 학술대회 학술발표 논문집
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• pp.80-83
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• 2003

In this note, a separation principle of the Takagi-Sugeno (T-S) fuzzy-model-based controller/observer is investigated. The separation principle of T-S fuzzy-model-based controller/observer sharing the premise parts in the fuzzy rule with directly measurable premise variables is well established. In that case, the fact that the augmented observer-based control system has the eigenvalues of the sub-closed-loop control system by the state-feedback controller and the sub-closed-loop observer error system is used to prove the separation principle. This paper studies the separation principle of T-S fuzzy-model-based controller/observer in which the premise variables cannot be directly measurable.