• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.628-633
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• 1994

A new Riemannian geometric model for the controlled plant is proposed by imbedding the control vector space in the state space, so as to reduce the dimension of the model. This geometric model is derived by replacing the orthogonal straight coordinate axes on the state space of a linear system with the curvilinear coordinate axes. Therefore the integral manifold of the geometric model becomes homeomorphic to that of fictitious linear system. For the lower dimensional Riemannian geometric model, a nonlinear optimal regulator with a quadratic form performance index which contains the Riemannian metric tensor is designed. Since the integral manifold of the nonlinear regulator is determined to be homeomorphic to that of the linear regulator, it is expected that the basic properties of the linear regulator such as feedback structure, stability and robustness are to be reflected in those of the nonlinear regulator. To apply the above regulator theory to a real nonlinear plant, it is discussed how to distort the curvilinear coordinate axes on which a nonlinear plant behaves as a linear system. Consequently, a partial differential equation with respect to the homeomorphism is derived. Finally, the computational algorithm for the nonlinear optimal regulator is discussed and a numerical example is shown.

• 제어로봇시스템학회논문지
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• 제8권8호
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• pp.639-648
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• 2002

The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.

• 대한전자공학회논문지TC
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• 제46권1호
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• pp.32-39
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• 2009

송신 단에서 채널 상태 정보를 알고 있는 폐루프 시스템은 개방 루프 시스템에 비하여 더 효율적인 전송을 수행할 수 있다. 그러나 실제 시스템은 제한된 피드백 채널을 가지므로 송신단에서 완벽한 채널 정보를 알 수 없으며, 따라서 부분 채널 정보를 활용하는 시스템의 설계가 중요한 요소로 부각되고 있다. 특히, 모바일 환경에서는 사용자의 이동성으로 인하여 채널 상태가 유동적으로 변화하며 이는 성능의 열화를 초래한다. 본 논문에서는 비트 인터리버와 결합한 부호화된 직교 주파수 다중 분할(BIC-OFDM; Bit-Interleaved Coded Orthogonal Frequency Division Multiplexing) 시스템을 위하여 채널 변화에 적절히 대응하는 적응 변조 코딩 기법을 제안한다. 합리적인 피드백 정보량을 통해, 제안하는 기법은 도플러 확산에 의한 채널 변화를 보상하여 향상된 성능을 제공한다. 실험 결과를 통해 제안하는 기법이 정확한 비트 에러율의 추정을 통한 성능 이득을 가짐을 확인한다.