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슬라이딩 모드 제어기법에 기반한 RBF 신경망 관리제어기 설계
손영익(Young Ik Son),임승철(Seungchul Lim) 대한전기학회 2021 전기학회논문지 Vol.70 No.12
This paper presents an RBF neural network supervisory controller by combining the sliding mode control approach as a method to improve the control performance in the presence of a model uncertainty and external disturbances. Remarkably, the proposed method does not require the exact system model equations. In order to verify the performance of the proposed algorithm, computer simulations using two practical systems have been performed. In the first example a motor controller for a parallel index mechanism has been designed to achieve the desired constant speed in spite of large disturbances caused by the intermittently-rotating load. The proposed controller can successfully solve the second angle tracking problem of a classical inverted pendulum system with a sinusoidal reference against a time-varying disturbance.
孫瑛翼(Young-Ik Son),趙南熏(Nam-Hoon Jo),沈亨輔(Hyungbo Shim) 대한전기학회 2007 전기학회논문지 Vol.56 No.2
This paper considers a low-order dynamic output feedback controller design problem. Since the proposed control Jaw inherently has a low-pass filter property, it can alleviate the mal-effects of the sensor noise without additional filter designs. Frequency domain analysis shows the characteristics of the proposed control law against measurement noise. The effectiveness of the proposed control law is illustrated by numerical simulations with a rotary inverted pendulum and a convey-crane. Using only one integrator the proposed control law has the advantage to the stabilization problem with sensor noise as well as it can successfully replace the measurements of derivative terms in a state feedback control Jaw.
DC 모터 속도 제어시스템을 위한 내부모델 원리 기반 제어기와 외란 관측기 기반 제어기의 등가 조건
손영익(Young Ik Son),양선직(Sun Jick Yang),아마레 네비옐레울 다니엘(Nebiyeleul Daniel Amare) 대한전기학회 2022 전기학회논문지 Vol.71 No.1
Asymptotic tracking of a reference model and nonlinear disturbance rejection are two of the most important attributes of an effective control system. A DOB-based controller, which is designed based on an augmented system model including the disturbance dynamics, relies mainly on the disturbance estimation to provide robust reference tracking performance. While IMP-based controller design technique achieves the same result by including a dynamic model of the reference and disturbance in the control system model. However, the similarity of these two control techniques extends beyond basic design consideration. This paper presents an analytical study that reaches an equivalent condition between the two classes of controllers for a DC motor speed control problem. Based on the obtained condition, it is proposed that the DOB-based controller can be designed such that it shows the same performance as the IMP-based controller. This has been further verified through a simulation which shows the same robust performance in both cases.
충돌 조건과 초기치 리셋을 이용한 컴퍼스 이족 로봇의 속도 추정
손영익(Young-Ik Son) 대한전기학회 2009 전기학회논문지 Vol.58 No.11
In this paper, a simple method of angle velocity estimation is presented for a passive dynamic biped robot. The estimation problem is not an easy task because its dynamic model is a hybrid system involved with an impact condition. Instead of designing a complex observer for hybrid systems we simply utilize the impact condition to reset the initial condition of the high-pass filter when the non-support leg hits the slope. The approach has been verified by simulation results.
측정 출력에 삼각함수 외란이 포함된 시스템의 적응 관측기
손영익(Young Ik Son),김인혁(In Hyuk Kim) 대한전기학회 2010 전기학회논문지 Vol.59 No.5
An adaptive state observer is presented for a class of LTI systems that have a sinusoidal disturbance in the measurement output. Adaptation rules are developed for identifying the unknown sinusoidal disturbance signal from the system output. For the application of the identification result to the state estimation problem, the sinusoidal signal with arbitrary initial phase has been considered in this paper. In order to test the performance of proposed algorithm, comparative computer simulations have been carried out with an existing robust observer. The simulation results show the effectiveness of the proposed method.
구강내 재건을 위한 안면 동맥 근점막 피판의 다양한 적용법
손영익(Young-Ik Son),백정환(Chung-Hwan Baek),정한신(Han-Sin Jeong),조재근(Jae Keun Cho),류광희(Gwanghui Ryu) 대한두경부종양학회 2013 대한두경부 종양학회지 Vol.29 No.2
Background:The purpose of this study is to review our experience with the variable applications of the facial artery muscolomucosal(FAMM) flap for oral cavity reconstruction following treatment for head and neck malig-nancies. Methods:We performed retrospect medical record review from January 2012 to June 2013. This flap technique was applied in 3 patients to reconstruct the defects of oral cavity induced by treatment for head and neck malignancies. Results:The defects and fibrosis occurred due to variable causes related to previous treat-ment for head and neck malignancies such as tumor resection and chemoradiation. Two patient suffered from defect on hard and soft palate and one patient suffered from trismus related to fibrotic scar band. We performed oral cavity reconstruction using FAMM flap even though these all patients had history of neck dissection surgery or radiation therapy. Conclusion:FAMM flap is an ideal option for reconstruction following treatment not only for primary tumor resection but also for defects induced by variable causes. Preoperative radiation and neck dis-section surgery, which are previously considered as some challenges, are no longer contraindication in our cases.