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병렬형 역진자와 비선형 $H_2$/H_{\infty}강인제어
한성익,김종식,Han, Seong-Ik,Kim, Jong-Sik 대한기계학회 2000 大韓機械學會論文集A Vol.24 No.4
A robust nonlinear $H_2$/$H_{\infty}$ control method for a parallel inverted pendulum with structured perturbation and dry friction is proposed. By the random input describing function techniques, the nonlinear dry friction is approximated into the quasi-linear system. Introducing the quadratic robustness theorem, the robust $H_2$/$H_{\infty}$ control system is constructed for the quasi-linear perturbed system. But it is difficult to design a controller due to the nonlinear correction term in Riccati equation. With some transformations on the Riccati equation containing nonlinear correction term, the design of the robust nonlinear controller can be done easily. Hence when the stiffness and mass of the parallel inverted pendulum vary in certain ranges, the proposed control scheme has the robustness for both the structured perturbation and dry friction. The results of computer simulation show the effectiveness of our proposed control method.
마찰변수 관측기와 적응순환형 퍼지신경망을 이용한 PMLSM의 강인한 위치제어
한성익,여대언,김새한,이권순,Han, Seong-Ik,Rye, Dae-Yeon,Kim, Sae-Han,Lee, Kwon-Soon 한국생산제조학회 2010 한국생산제조학회지 Vol.26 No.2
A recurrent adaptive model-free intelligent control with a friction estimation law is proposed to enhance the positioning performance of the mover in PMLSM system. For the PMLSM with nonlinear friction and uncertainty, an adaptive recurrent fuzzy neural network(ARFNN) and compensated control law in $H_{\infty}$ performance criterion are designed to mimic a perfect control law and compensate the approximated error between ideal controller and ARFNN. Combined with friction observer to estimate nonlinear friction parameters of the LuGre model, on-line adaptive laws of the controller and observer are derived based on the Lyapunov stability criterion. To analyze the effectiveness our control scheme, some simulations for the PMLSM with nonlinear friction and uncertainty were executed.
RCMAC 및 PSO 기법을 이용한 능동 소음제어 시스템 성능 개선
한성익(Seong-Ik Han),신종민(Jong-Min Shin),김새한(Sae-Han Kim),이권순(Kwon-Soon Lee) 대한전기학회 2010 전기학회논문지 Vol.59 No.10
In this paper, a recurrent cerebellar modulation articulation control with praticle swarm optimization (PSO) method has been investigated for improvement of noise attenuation performance in active noise control system. For narrow band noise, FXLMS and RCMAC has a partial satisfactory noise attenuation. However, noise attenuation performance is poor for broad band noise and nonlinear path since it has linear filter structure. To improve this problem, a RCMAC with PSO is proposed and it is shown that satisfactory noise attenuation performance is obtained by some simulations in duct system using harmonic motor noise and KTX cabin noise as a noise source.
Seong-Ik Han(한성익) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.10
This paper proposes a hybrid STA (Super-Twisting Algorithm) based DSC (Dynamic Surface Control) scheme with a state observer and tracking error constraining method for MIMO (Multi-Input, Multi-Output) nonlinear systems. Using the transformed error states contributed by the STA, a controller was designed according to the recursive steps in conventional DSC systems. Moreover, in this study, the complexity problem in the conventional DSC schemes caused by the interpretation of the filtering output errors and related stability analysis were bypassed by combining DSC with the STA. In addition, the tracking error constraint method was applied to constrain the full tracking errors of the STA based DSC system. Finally, unmeasured states were estimated by state observers and blended into controller design. The proposed method achieved competitive results compared with conventional DSC systems, as demonstrated by the simulation results obtained using an articulated manipulator system.
장력 관측기를 이용한 웹 이송 시스템의 피드백 장력제어
한성익(Seong Ik Han),김한메(Han Me Kim),김종식(Jong Shik Kim) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
The main object of continuous web transport systems is to maintain a desirable tension of the web between rollers. The maintenance of a desirable tension in web transport systems has closely relation to prevent a fracture of the web and to improve web quality for manufactured goods. The common web transport systems usually maintain the tension between webs through modulating the velocity of rollers by doing feedback of a measured tension signal from only a few tension meter. This means that the part of measured tension signal as feedback signal is constructed to the closed-loop system structure and others except it are constructed to the open-loop system structure. Thus, in order to modify a partial closed-loop system structure to a complete closed-loop system structure, tension observer for estimating unmeasurable tension signal is proposed. From the results of computer simulation, the performance of the proposed system shows better than one of the common web transport system.
Seong-Ik Han(한성익) 제어로봇시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.9
This paper proposes a robust finite-time backstepping control scheme using a nonlinear disturbance observer for uncertain single-input single-output (SISO) full-order strict-feedback nonlinear systems, in which the dynamics are partially known. To improve the convergence time and robustness of the conventional backstepping control, a new finite-time control method is proposed to estimate uncertainties that appear in each step of the controller design based on the finite-time virtual tracking errors and a nonlinear disturbance observer. The finite-time virtual controls and control input are derived by using the finite-time Lyapunov stability criterion. Simulation results for example of a strict-feedback SISO nonlinear system confirm that the proposed control scheme exhibits better performance than a conventional backstepping control scheme.
직동형 압력조절 밸브(DDPCV)를 이용한 서보펌프 제어실린더의 강인 압력제어
한성익(Seong Ik Han),이지민(Ji Min Lee),김종식(Jong Shik Kim) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
In order to achieve high-efficiency in hydraulic servo systems which use a servo-pump, accurate flow according to the load should be supplied. To accomplish this object, the pressure of control cylinder for the swash-plate in the servo pump should be controlled precisely under the effects of non-linearity and uncertainty such as the discharge coefficient and the variation of the bulk-modulus according to the mutation of the environmental condition in hydraulic systems. A precise pressure control system for the control cylinder using Direct Drive Pressure Control Valve (DDPCV) is proposed for the energy-saving control of hydraulic servo systems. In order to design the controller, the pressure control system with the control cylinder is identified by the signal-compression method and the mathematical model is verified. The sliding mode controller is designed based on the nominal model. It is found by the experiments that the proposed pressure control system has desirable performance and robustness.
Seong-Ik Han(한성익) 대한전자공학회 2023 대한전자공학회 학술대회 Vol.2023 No.6
Long short-term memory network (LSTM) whose hyper parameter is optimized by Salp swarm algorithm (SSA) is studied to improve estimation performance for remaining useful life of Lithiumion battery, which is a fatal parameter of the battery management system (BMS) in electric vehicles (EVs). The training and test results by the various methods for the data-driven battery model of NASA Prognostic Center of Excellence show the efficacy of the proposed method comparing with the conventional ones.