• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1418-1423
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• 2003

In this paper, a nonlinear controller based on sliding mode control is applied to a two -wheeled Welding Mobile Robot (WMR) to track a smooth-curved welding path at a constant velocity of the welding point. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation results are included to illustrate the performance of the control law.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.78-83
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• 2003

In this paper, it is dealt with a controller design problem for nonlinear systems with higher order relative degree. A robust adaptive control for uncertain nonlinear systems with stable zero dynamics will be proposed based on the high-gain adaptive output feedback and backstepping strategies. The proposed method is useful in the case where only the output signal is available.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1136-1141
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• 2015

In this paper, we develop a sliding mode controller that uses a nonlinear sliding manifold for the permanent magnet synchronous motor. The proposed controller makes sure that both currents and velocity tracking error converge into equilibria. Nonlinear sliding manifold consists of current dynamics and nonlinear functions which are designed with velocity tracking error and its integrated term. The nonlinear functions are designed to guarantee that velocity tracking error converge into zero. The closed-loop stability is proven by Lyapunov theory. The effectiveness of proposed method is demonstrated by numerical simulation results.

• Bulletin of the Korean Chemical Society
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• v.35 no.5
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• pp.1285-1293
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• 2014

Several interesting features in trajectory were observed in the direct dynamics study of formaldehyde dissociation above radical dissociation limit. The hydrogen atom deliberately placed on the radical dissociation path can turn around at some distance from C without completion of dissociation and return to HCO moiety, colliding with it just as in a radical-radical recombination and producing a highly energized molecule. Excursion of a hydrogen atom to a distance of 6-8 bohrs and migration of a hydrogen atom back and forth between C and O are two of the most interesting features exhibited by the energized molecule. A series of excursions is seen to lead to a different kind of dissociation resembling roaming-like dissociation characterized by high vibrational excitation of $H_2$ fragment. It is suggested that excursion occurs due to involvement of two different force field systems that exhibit discontinuity in 6-8 bohrs from HCO moiety. We argue that roaming is a non-zero impact parameter version of the excursion.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.1-8
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• 2004

For the linearized differential algebraic equation of the nonlinear constrained system, exact initial values of the acceleration are needed to solve itself. It may be very troublesome to perform the inverse operation for obtaining the incremental quantities since the mass matrix contains the zero element in the diagonal. This fact makes the mass matrix impossible to be positive definite. To overcome this singularity phenomenon the mass matrix needs to be modified to allow the feasible application of predictor and corrector in the iterative computation. In this paper the proposed numerical algorithm based on the modified mass matrix combines the conventional implicit algorithm, Newton-Raphson method and Newmark method. The numerical example presents reliabilities for the proposed algorithm via comparisons of the 4th order Runge-kutta method. The proposed algorithm seems to be satisfactory even though the acceleration, Lagrange multiplier, and energy show unstable behaviour. Correspondingly, it provides one important clue to another algorithm for the enhancement of the numerical results.

• Proceedings of the Korean Vacuum Society Conference
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• 2016.02a
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• pp.332.1-332.1
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• 2016

Application of magnetic fields is important to characterize the carrier dynamics in semiconductor quantum structures. We performed photoluminescence (PL) measurements from an InGaP-AlInGaP single quantum well under pulsed magnetic fields to 50 T. The zero field interband PL transition energy matches well with the self-consistent Poisson-Schr?dinger equation. We attempted to analyze the dimensionality of the quantum well by using the diamagnetic shift of the magnetoexciton. The real quantum well has finite thickness that causes the quasi-two-dimensional behavior of the exciton diamagnetic shift. The PL intensity diminishes with increasing magnetic field because of the exciton motion in the presence of magnetic field.

• Advances in robotics research
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• v.2 no.2
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.410-413
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• 2004

In this paper, a simulator system for Fuel Cell Hybrid Electric Vehicles(FCHEV) is implemented using DSP boards with CAN bus. The subsystems of a FCHEV i.e., the fuel cell system, the battery system, the vehicle dynamics with the transmission mechanism are coded into 3 DSP boards. The power distribution control algorithm and battery SOC control are also coded into a DSP board. The real-time monitoring program is also developed to examine the control performance of power control and SOC control algorithms.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.300-303
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• 2003

An Algorithm based on direct implementation of variable structure systems theory approach is proposed for on-line training of multilayer perceptrons. Network structures which have multiple inputs, single output and one hidden layer are considered and the weights are assumed to have capabilities for continuous time adaptation. The zero level set of the network learning error is regarded as a sliding surface in the learning parameters space. A sliding mode trajectory can be brought on and reached in finite time on such a sliding manifold. Results from simulated on-line identification task for a two-link planar manipulator dynamics are also presented.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.6
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• pp.1035-1046
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• 2002

Time Delay Control(TDC) is a robust nonlinear control scheme using Time Delay Estimation(TDE) and also has a simple structure. To apply TDC to a real system, we must design Time Delay Controller to guarantee stability. The earlier research stated sufficient stability condition of TDC for general plants. In that research, it was assumed that time delay is infinitely small. But, it is impossible to implement infinitely small time delay in a real system. So, in this research we propose a new sufficient stability condition of TDC for general plants with finite time delay. And the simulation results indicate that the previous sufficient stability condition does not work even for small time delay, while our proposed condition works well.