• Journal of Institute of Control, Robotics and Systems
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• v.19 no.8
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• pp.661-666
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• 2013

A state feedback controller with integration of output error is proposed for way-point tracking of an AUV (Autonomous Underwater Vehicle). For the steering control on the XY plane, the proposed controller uses three state variables (sway velocity, yaw rate, heading angle) and the integral of the steering error, and for the depth control on the XZ plane, it uses four state variables (pitch rate, depth, pitch angle) and the integral of the depth error. From the simulation using Matlab/Simulink, we verify that the performance of the proposed controller is satisfactory within an error range of 1m from the target way-point for arbitrarily chosen sets of consecutive way-points.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.1-9
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• 2000

In this paper, we design a robust output feedback controller for robot manipulators with bounded parametric uncertainties using high-gain observer. The proposed control scheme with integral action improves tracking error due to limit of the robust feedback gains. High-gain observer is used to solve the noise problem with the joint velocity measurement. This controller avoids the limitation on the variation of unknown parameters and guarantees the uniformly ultimate boundedness of the closed-loop system. The performance of the proposed method is demonstrated by simulation on a 2-link manipulator.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.4
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• pp.839-848
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• 2012

In this paper, we propose a robust control scheme of AC servo motors to suppress disturbance torques effectively. The proposed controller consists of both a model based feed-forward controller and a stabilizing feedback controller. The feed-forward controller is designed such that the output of the nominal plant tracks perfectly the reference velocity command with desired dynamic characteristics. The feedback controller stabilizes the overall closed loop system. Furthermore, the feedback controller contains a free function that can be chosen arbitrarily. The free function can be designed so as to achieve both suppression of disturbances and robustness to model uncertainties. In order to illuminate the superior performance of the proposed control scheme to the conventional ones, we present some simulation results.

• Journal of Biomedical Engineering Research
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• v.23 no.3
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• pp.207-216
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• 2002

This Paper describes a quantitative analysis of Postural balance training using virtual bicycle system. We have used a virtual bicycle system that combines virtual reality technology with a bicycle . In this experiment, 20 normal adults were tested to investigate the influencing factors on Postural balance. Several factors including cycling time. cycling velocity. number of times of Path deviation, center of Pressure(COP) . and weight shift were extracted and evaluated to quantify the extent of control. Also, To improve the effect of balance training, we investigated the usefulness of visual feedback information by weight shift The results showed that the system was effective Postural balance rehabilitation training device and. in addition. the analysis method might have a wider applicability to the rehabilitation field.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.7
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• pp.614-621
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• 2001

The controllers for a full car 7-DOF model with 4 active or semi-active suspension units are designed and evaluated in this research. The control algorithms for suspension systems, such as full state feedback active, full state feedback semi-active, sky-hook active, sky-hook semi-actvie, and on-off suspension systems, are analyzed and evaluated with respect to ride comfort. The vehicle dynamic performances are expressed by response curves to a bump input, performance indices for asphalt road input, and frequency characteristic curves. Heaving, rolling, and pitching inputs are applied to the vehicle dynamic system to evaluate frequency characteristics. The simulation results show that the ride quality of the sky-hook controller approaches that the full state feedback controller more closely in semi-active suspension system than in active suspension system. For the implementation of a vehicle with sky-hook suspension control systems in this paper, 7 velocity sensors are required to measure the states.

• Journal of The Geomorphological Association of Korea
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• v.24 no.3
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• pp.61-81
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• 2017

Traditional approaches to surface moisture problems in the context of aeolian research have focused on the initiation of sand movement, developing various models for predicting threshold velocity on a wet surface. They have been unsatisfactory, however, in explaining field observations because they have not incorporated spatiotemporal variability of surface moisture, the interactions between transported sand grains and surface, and the role of aeolian transport in controlling surface moisture. As Nield (2011) showed, a simplified numerical model can be used to investigate this issue. This research aims to explore the feedback structures between aeolian transport and surface moisture using a modified sand slab model. Key modifications are the introduction of simultaneous updating scheme for all the slabs and moisture-assigning procedures with and without aeolian transport. The major findings are as follows. Moist surface conditions suppress sand slab movement, leading to the development of smaller-scale topography. Available sands for aeolian transport are determined by the vertical patterns of moisture content with its variations from groundwater to the surface. Sand patches on a wet surface act as a localized source area. Sand movement drives immediate changes in surface moisture rather than time-lag reponses, mostly when moist conditions are dominant.

• Journal of Mechanical Science and Technology
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• v.17 no.3
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• pp.380-390
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• 2003

This paper addresses the problem of the modeling and vibration control of tapered rotating blade modeled as thin-walled beams and incorporating damping capabilities. The blade model incorporates non-classical features such as anisotropy, transverse shear, secondary warping and includes the centrifugal and Coriolis force fields. For the rotating blade system, a thorough validation and assessment. of a number of non-classical features including the taper characteristics is accomplished. The damping capabilities are provided by a system of piezoactuators bonded or embedded into the structure and spread over the entire span of the beam. Based on the converse piezoelectric effect, the piezoactuators produce a localized strain field in response to a voltage and consequently, a change of the dynamic response characteristics is induced. A velocity feedback control law relating the piezoelectrically induced transversal bending moment at the beam tip with the appropriately selected kinematical response quantity is used and thebeneficial effects upon the closed-loop dynamic characteristics of the blade are highlighted.

• Structural Engineering and Mechanics
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• v.12 no.2
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• pp.135-156
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• 2001

Analytical solutions and finite element results of laminated composite plates with smart material layers embedded in them are presented in this study. The third-order plate theory of Reddy is used to study vibration suppression characteristics. The analytical solution for simply supported boundary conditions is based on the Navier solution procedure. The velocity feedback control is used. Parametric effects of the position of the smart material layers, material properties, and control parameters on the suppression time are investigated. It has been found that (a) the minimum vibration suppression time is achieved by placing the smart material layers farthest from the neutral axis, (b) using thinner smart material layers have better vibration attenuation characteristics, and, (c) the vibration suppression time is larger for a lower value of the feedback control coefficient.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.2
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• pp.215-220
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• 1988

The oscillatory hydraulic servosystem and the stable hydraulic servosystem under proportional control were feedback-controlled respectively using the estimated states of the observer. The observer was constructed in the analog computer and then it was interfaced with the real hydraulic servosystem to excute the experiment. As a result of experiment, the system that had been stable under proportional control responded more rapidly than before and the system that had shown oscillatory phenomenon under proportional control became stable with the same maximum acceleration and velocity that it had started under proportional control.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.197-201
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• 1993

A method for the closedloop control of the torsional tip motion of a piezo-polymer actuator is presented. The application of Lyapunov's direct, method to the problem is explored. A feedback control of the torsional tip motion of tile piezopolymer actuator is derived by considering tile time rate of change of the total energy of the system. If the angular velocity of the tip of the actuator is known, all the modes of tile actuator can be controlled simultaneously. This approach has tile advantage over the conventional methods in the respect that it allows one to directly with tile system's partial differential equations without resorting to approximations.