• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.127-134
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• 2016

This paper presents a robust control of a reaction wheel inverted pendulum. To this end, a mathematical model is derived using physical laws, and then parameters in the model are identified as well. Based on the model, a robust position control is designed, which consists of two parts: swing-up control using passivity and robust stabilization control using LMI (Linear Matrix Inequality). When the pendulum starts to move, the swing-up control is applied. If the position of the pendulum is near the desired upright position, the control is switched to the robust stabilization control. This robust control is employed in order to deal with the uncertainties in the inertia of the pendulum dynamics. The performance of the proposed control scheme is validated not only simulation but also real experiment.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.10
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• pp.859-867
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• 2015

This study proposes a robust formation flight control technique of multiple unmanned aerial vehicles(UAVs) using behavior-based decentralized approach. The behavior-based decentralized method has various advantages because it utilizes information of neighboring UAVs only instead of information of whole UAVs in the formation maneuvering. The controllers in this paper are divided into two methods: first one is based on position and velocity of neighboring UAVs, and the other one is based on position of neighboring UAVs and passivity technique. The proposed controllers assure uniformly ultimate boundedness of closed-loops system under time varying bounded disturbances. Numerical simulations are performed to validate the effectiveness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.871-880
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• 2000

A twin-servo mechanism is used to increase the payload capacity and assembling speed of high precision motion control systems such as semiconductor chip mounters. In this paper, we focus on the modeling of the twin-servo system and propose its network representation. And also, we propose a robust synchronizing motion control algorithm to cancel out the skew motion of the twin-servo system caused by different dynamic characteristics of two driving systems and the vibration generated by high accelerating and decelerating motions. The proposed control algorithm consists of separate feedback motion control algorithms for each driving system and a skew motion compensation algorithm. A robust tracking controller based on internal-loop compensation is proposed as a separate motion controller and its disturbance attenuation property is shown. The skew motion compensation algorithm is also designed to maintain the synchronizing motion during high speed operation, and the stability of the whole closed loop system is proved based on passivity theory. Finally, experimental results are shown to illustrate control performance.

• Advances in aircraft and spacecraft science
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• v.6 no.5
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• pp.349-369
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• 2019

In the design of flight control systems there are issues that deserve special consideration and attention such as external perturbations or systems failures. A Simple Adaptive Controller (SAC) that does not require a-priori knowledge of the faults is proposed in this paper with the aim of realizing a fault tolerant flight control system capable of leading the pitch motion of an aircraft. The main condition for obtaining a stable adaptive controller is the passivity of the plant; however, since real systems generally do not satisfy such requirement, a properly defined Parallel Feedforward Compensator (PFC) is used to let the augmented system meet the passivity condition. The design approach used in this paper to synthesize the PFC and to tune the invariant gains of the SAC is the Population Decline Swarm Optimization ($P_DSO$). It is a modification of the Particle Swarm Optimization (PSO) technique that takes into account a decline demographic model to speed up the optimization procedure. Tuning and flight mechanics results are presented to show both the effectiveness of the proposed $P_DSO$ and the fault tolerant capability of the proposed scheme to control the aircraft pitch motion even in presence of elevator failures.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.5
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• pp.519-525
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• 2005

An electrochemical evaluation on the corrosion resistance for heavy anticorrosive paint(DFT:25um) was carried out for 5 kinds of heavy anticorrosive paints such as high solid epoxy(HE), solvent free epoxy(SE). tar epoxy(TE), phenol epoxy(PE). and ceramic epoxy(CE). Corrosion current densities obtained by Tafel extrapolation method from anodic and cathodic polarization curves didn't correspond with the values obtained by AC impedance measurement, however, the values of polarization resistance obtained from the cyclic voltammogram showed a good tendency corresponding well with the values of AC impedance measurement. Futhermore there was a good correlation against the corrosion resistance evaluation between passivity current density of the anodic polarization curve and diffusion limiting current density of the cathodic polarization curve. And corrosion resistance increased with corrosion potential shifting to noble direction. From the results discussed above. HE and CE had a relatively good corrosion resistance than other heavy anticorrosive paints.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.135-140
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• 1998

The concept of dissipativity and passivity are of interest to us from a theoretical as well as a practical point of view. It is well known that the Riccati equation is derived from the dissipation inequality which expresses the fact that the system is dissipative; the energy stored inside the system doesn't exceed the amount of supply which flows into the system. The pencil model is regarded as a representation based on behavioral approach introduced by J.C. Willems. It has first order in the internal variable and zeroth order in the external variable. In general, any matrix pencil is transformed into a canonical form which is consist of several kind of sub-pencils, One of them has row full rank for $^\forall S\;\in\;\mathds{C}\;\bigcup{\infty}$, we call it under-determined mode of the model. In our opinion, most important properties of dynamical system lay in the mode. According to the properties of canonical form for pencil, it is shown that the storage function which characterizes the dissipativity of the system can be written as a LMI for the under-determined mode, if the system doesn't include impulse mode.

• Journal of Korea Ship Safrty Technology Authority
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• s.21
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• pp.66-77
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• 2006

Stainless steel has been stably used closed by passivity oxidation films(Cr₂O₃) is made by neutral atmospheric environment. However, passivity oxidaton films of the surface of stainless steel occasionally comes to be destroyed in seawater which is influenced by an environment having galogen ion like Cl‾, then, localization corrosion comes to occur Stainless steel 304 for shaft system material of the small-size FRP fishing boat on seawater environments made an experiment on simulation of sacrifical anode(Al, Zn). Through these experiment and study, following results have been obtained ; According to the field inspection and corrosion simulation, the corrosion on the 2nd class stainless steel shaft(STS304) in FRP fishing boat has been verified to occur by crevice corrosion and galvanic corrosion etc., According to the comparison and analysis of Stainless steel 304 was severely corroded, but, protected shaft specimen was not totallay corroded. This result is assumed to be made by the facts that anodic reaction, Fe → fe²+＋ 2e¯, has been restricted by the cathodic protection current of sacrificial anode material.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.1
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• pp.22-27
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• 2009

Bilateral teleoperation systems, connected to computer networks such as Internet have to deal with the time delay depending on factors such as congestion, bandwidth or distance. And the entire system is easy to become unstable due to irregular time delay. Passivity concept has been using as a framework to solve the stability problem in bilateral control of teleoperation. In this paper, we present a suitable time varying gain inserted in the transmission path that can recover passivity provided a bound on the rate of change of the known delay. Simulation results are presented showing the performance of the resulting control architecture.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.232-233
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• 2005

Stainless steel has been stably used closed by passivity oxidation films($Cr_2O_3$) is made by neutral atmospheric environment. However, passivity oxidation films of the surface of stainless steel occasionally comes to be destroyed in seawater which is influenced by an environment having halogen ion like $Cl^-$, then, localization corrosion comes to occur. Stainless steel 304 for shaft system material of the small-size FRP fishing boat on seawater environments made an experiment on simulation of sacrifical anode(Al, Zn). Through these experiment and study, following results have been obtained ; According to the field inspection and corrosion simulation, the corrosion on the 2nd class stainless steel shaft(STS 304) in FRP fishing boat has been verified to occur by crevice corrosion and galvanic corrosion etc.. According to the comparison and analysis of Stainless steel 304 shaft materials after simulation leaving unprotected and applying cathodic protection, unprotected shaft specimen of stainless steel 304 was severely corroded, but, protected shaft specimen was not totally corroded. This result is assumed to be made by the facts that anodic reaction, $Fe{\rightarrow}Fe^{2+}$ + $2e^-$, has been restricted by the cathodic protection current of sacrificial anode material.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.173-176
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• 2006

There are many kinds of protection methods for marine structures by using and environmental condition. Coating protection method, one of these methods is being widely adopted to both all ground and marine structures. In this study, by adding some additives such as Zn powder(Zn), carbon black(CB) to epoxy anti-corrosive paint, the effect to promote corrosion resistance was investigated with electrochemical method. Corrosion potentials with additives shifted to negative direction than no additive. However passivity current density increased than no additive except for Zn(20)+CB(10), especially, additive of Zn(20)+CB(10) showed the smallest passivity current density. Polarization resistance of Zn(20)+CB(10) by both cyclic voltammogram and impedance measurement was the largest value than other additives. And also surface phenomenon by adding Zn(20)+CB(10) was observed a good add condition not showing bubbling than other additives.