• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.121-124
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• 1997

In this paper, applications of self-recurrent neural networks based of adaptive controller to position control of flexible robot link are considered. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. Therefore, a comparative analysis was mode with linear controller through an simulation. The results are presented to illustrate the advantages and improved performance of the proposed position tracking controller over the conventional linear controller.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• 한국정밀공학회지
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• 제13권1호
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• pp.62-68
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• 1996

Linear controllers, such as LQG/LTR controller, have been investigated to control flexible link manipulators. The performance and complexity of these depend largely on the linearized model upon which the controller is designed. In this study, singular perturbation model is tested in designing a LQG/LTR controller for a flexible link manipulator. The order of the resulting controller is much lower than the one based on a full model. Through numerical study, it is shown that the performance of the proposed controller reaches reasonably to the one based on the full model.

• 대한기계학회논문집A
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• 제20권12호
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• pp.3883-3891
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• 1996

Performance and productivity of robot manipulator can be improved by increasing its working speed and extending its link length. But heavy weght of the commercial robot links, considered as "rigid body", limits its mazimum working speed and the weght of the links can be reduced for high speed operation. But this light-weight link or long link for special use cannot be consideredas "rigid" structure and vibration of the link due to its flexibility causes errors in end-effector position and orientation. Thus the elastic behaviro of the flexible link should be taken care of for increasing work speed and getting smaller error of end-effector position. In this paper, the fuzzy control theory is selected to design the controller which controlos the joint positions of the robot manipulator and suppress the vibration of flexible link. In the forst place, for the 1 DOF flexible link system, the fuzzy control theory is implemented. The contdroller for the 1 DOF flexible link system is designed. Experimental research is carried out to examine the controllability and the validity of the fuzzy control theory based controller. Next, using the extended desing schemes for the case of the 1 DOF flexible link system and usign the experimental phenomena of the 3 DOF flexible link system, the fuzzy controller for the 3 DOF flexible link system is desinged and experimented.ed and experimented.

• 전기학회논문지
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• 제65권7호
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• pp.1270-1276
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• 2016

This paper proposes the controller design for regulation control of two-link robot arm using sum of squares (SOS) control method that takes into account the input constraint. The existing studies of two link robotic arm system used a linear model of all the non-linearity of the system is linearized. For a linear controller, since the model of the system is simplified, it is possible to design a controller in consideration of constraints on the disturbance. However, there is a limit to the performance using a linearized model for a system with a complex nonlinear properties. To compensate for this in the case of using a fuzzy LMI method, it is necessary to have a large number of linear models and thus there is a disadvantage that the system becomes complicated. To solve these problems, we represents a two-link robot arm system with a polynomial model using a Taylor series expansion and design the controller considering the case where the magnitude of the control input is limited using SOS method. We demonstrate by simulations the feasibility of the proposed algorithm.

• 전자공학회논문지B
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• 제29B권1호
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• pp.58-66
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• 1992

This paper proposes a neuro-controller for position control of one-link flexible robot arm. Basically the controller consists of a multi-layer neural network and a conventional PD controller. Two controller are parallelly connected. Neural network is traind by the conventional error back propagation learning rules. During learning period, the weights of neural network are adjusted to minimize the position error between the desired hub angle and the actual one. Finally the effectiveness of the proposed approach will be demonstrated by computer simulation.

• 전력전자학회논문지
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• 제23권4호
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• pp.281-285
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• 2018

An isolated feedback method for measuring the inverter DC-link voltage is proposed. This method provides a simple and economical solution to inverter control systems that use a flyback converter as a controller power supply. In the proposed method, data on the DC-link voltage are acquired when the primary side voltage appears on the secondary side of the flyback transformer, thereby eliminating the need to adopt an extra signal isolation method. To solve the non-synchronization problem between the flyback converter switching and main controller sampling, the external interrupt function of the micro-controller is used as a trigger signal for the A/D conversion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• 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.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.223-233
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• 2008

A new output feedback controller design approach for flexible-joint (FJ) robots via the observer dynamic surface design technique is presented. The proposed approach only requires the feedback of position states. We first design an observer to estimate the link and actuator velocity information. Then, the link position tracking controller using the observer dynamic surface design procedure is developed. Therefore, the proposed controller can be simpler than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop system are uniformly ultimately bounded. Finally, the simulation results of a three-link FJ robot are presented to validate the good position tracking performance of the proposed control system.