• Journal of Institute of Control, Robotics and Systems
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• v.13 no.1
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• pp.15-18
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• 2007

We consider the problem of designing a static output feedback sliding mode control law for linear dynamical systems with mismatched uncertainties in the state matrix. We assume that an output dependent sliding surface guaranteeing the quadratic stability of the sliding mode dynamics is given, the reachability condition is not required to be satisfied globally, and the output feedback sliding mode control law complises both linear and discontinuous parts. We reduce the problem of designing the linear part of the sliding mode control law to a simple LMI problem which offers design flexibility for combining various useful convex design specifications. Our approach does not require state transformation and it can be applied to mismatched uncertain systems.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.9
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• pp.520-525
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• 2003

A robust controller for large space structures(LSS) is studied from passivity point of view. While velocity sensors are commonly used for proportional-derivative (PD) control law to stabilize large space structures, if the structure can be controlled without velocity measurements, it is desirable against the failure of velocity sensors and for the cost reduction of the sensing system. In a recent result a dynamic output feedback control law has been provided using only displacement measurements. This paper presents a passivity-based controller design method and provides an alternative stability analysis tool for the previous displacement feedback robust control law. The closed-loop system can be viewed as a feedback interconnection of a passivated large space structure (LSS) and a strictly positive real (SPR) system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1188-1194
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• 1997

In this paper, we design output feedback nonlinear dynamic control law by using state feedback nonlinear dynamic compensator and PI observer and show that the controller can stabilize globally and asymptotically a class of nonlinear systems with mismatched uncertainties. We also show that it is possible for a nonlinear system to use the output of PI observer in place of state variables in case that the nonlinear dynamic control law is used, similarly as in the linear system. The effectiveness of the proposed control law is demonstrated by a numerical simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1184-1184
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• 1997

In this paper, we design output feedback nonlinear dynamic control law by using state feedback nonlinear dynamic compensator and PI observer and show that the controller can stabilized globally and asymptotically a class of nonlinear systems with mismatched uncertainties. We also show that it is possible for a nonlinear system to use the output of PI observer in place of state variables in case that the nonlinear dynamic control law is used, similarly as in the linear system. The effectiveness of the proposed control law is demonstrated by a numerical simulation.

• Journal of Mechanical Science and Technology
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• v.19 no.2
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• pp.618-624
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• 2005

We present a new state-space approach to construct a dynamic output feedback controller which stabilizes a class of linear time invariant systems. All the states of the given system are not measurable and only the output is used to design the stabilizing control law. In the design scheme, however, we first assume that the given system can be stabilized by a feedback law composed of the output and its derivatives of a certain order. Beginning with this assumption, we systematically construct a dynamic system which removes the need of the derivatives. The main advantage of the proposed controller is regarding the controller order, which may be smaller than that of conventional output feedback controller. Using a simple numerical example, it is shown that the order of the proposed controller is indeed smaller than that of reduced-order observer based output feedback controller.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.1
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• pp.46-58
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• 2009

This paper deals with design procedure of online guidance and control law for future missiles that requires agile maneuverability. For the purpose, the missile with high powered side thruster is proposed. The guidance and control law for such missiles is discussed from a point of view of optimal control theory in this paper. Minimum time problem is solved for the approximated system. It is derived that bang- bang control is optimal input from the necessary conditions of optimal solution. Feedback guidance without iterative calculation is useful for actual systems. In this paper. multiple design point method is applied to design feedback gains and feed forward inputs of the guidance and control law. The numerical results show that the proposed guidance and control law has a high -performance for wide-ranging boundary conditions.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1955-1959
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• 2005

This paper presents a systematic analysis and a simple design of a robust adaptive control law for a class of non linear systems with modeling errors and a time-delay input. The theory for designing a robust adaptive control law based on input- output feedback linearization of non linear systems with uncertainties and a time-delay in the manipulated input by the approach of parameterized state feedback control is presented. The main advantage of this method is that the parameterized state feedback control law can effectively suppress the effect of the most parts of nonlinearities, including system uncertainties and time-delay input in the pp-coupling perturbation form and the relative order of non linear systems is not limited.

• Journal of Mechanical Science and Technology
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• v.18 no.2
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• pp.203-210
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• 2004

Attitude control law design for spacecraft large angle maneuvers is investigated in this paper. The feedback linearization technique is applied to the design of a nonlinear tracking control law. The output function to be tracked is the quaternion attitude parameter. The designed control law turns out to be a combination of attitude and attitude rate tracking commands. The attitude-only output function, therefore, leads to a stable closed-loop system following the given reference trajectory. The principal advantage of the proposed method is that it is relatively easy to produce reference trajectories and associated controller.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.410-415
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• 2013

This paper proposes a bidirectional platoon control law using a coupled distance error based on the backstepping-like feedback linearization control method for an interconnected mobile agent system with a string structure. Unlike the previous results where the single agent was controlled using the only own information without other agents, the proposed control law cannot show the only distance error convergence of each agent, but also the string stability of the whole system. Also, the control performances are improved by the proposed control law in spite of low performance of bidirectional control strategy in the previous results. The proposed bidirectional platoon control algorithm is based on the backstepping-like feedback linearization control method. The position errors between each agent and the preceding and the behind agents are coupled by weighted summation. By the proposed control law, the distance error of each agent can converge to zero while the string stability is guaranteed when the coupled errors can converge to zero. To this end, the back-stepping control method is employed. The pseudo velocity input is determined considering the kinematic relationship between agents and the string stability. Then, the actual dynamic control input is determined to make the actual velocity converge to the pseudo velocity input. The stability analysis and the simulation results of the proposed method are included in order to demonstrate the practical application of the proposed algorithm.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1809-1818
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• 1997

Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.