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새로운 슬라이딩 표면에 기반한 비홀로노믹 이동 로봇의 추종 제어
박봉석(Bong Seok Park),유성진(Sung Jin Yoo),최윤호(Yoon Ho Choi),박진배(Jin Bae Park) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.8
This paper proposes a new sliding-surf ace-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.
추종 로봇의 측정값들을 이용한 다중 이동 로봇의 선도-추종 접근법 기반 군집 제어
박봉석(Bong Seok Park) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.5
This paper proposes the leader-follower based formation control method for multiple mobile robots. The controller is designed using the measurements of the follower robot such as the relative distance and angle between the leader and the follower. This means that the follower robot does not require the information of the leader robot while keeping the desired formation. Therefore, the proposed control method can reduce the communication loss and the cost for hardware. From Lyapunov stability theory, it is shown that all error signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results demonstrate the effectiveness of the proposed control system.
Sliding mode formation control for multiple mobile robots
박봉석(Bong Seok Park),최윤호(Yoon Ho Choi),박진배(Jin Bae Park) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
This paper proposes a sliding mode formation control method for nonholonomic mobile robots in the presence of disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. The sliding mode control method is used to deal with disturbances acting on the mobile robots. The system stability and the convergence of tracking errors are proven using Lyapunov stability theory. Finally, we perform computer simulations to demonstrate the robustness and performance of the proposed control system.
다개체 이동 로봇을 위한 선도-추종 접근법 기반 적응 군집 제어
박봉석(Bong Seok Park),박진배(Jin Bae Park) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.5
In this paper, an adaptive formation control based on the leader-following approach is proposed for multiple mobile robots with time varying parameters. The proposed controller does not require the velocity information of the leader robot, which is commonly assumed that it is either measured or telecommunicated. In order to estimate time varying velocities of the leader robot, the smooth projection algorithm is employed. From the Lyapunov stability theory, it is proved that the proposed control scheme can guarantee the uniform ultimate boundedness of error signals of the closed-loop system. Finally, the computer simulations are performed to demonstrate the performance of the proposed control system.
DC 리액터를 이용한 자동차 알터네이터의 구동력 제한과 카오디오 노이즈 필터링 효과에 관한 연구
박봉석(Bong-Seok Park),허정준(Jung-Jun Her) 산업기술교육훈련학회 2019 산업기술연구논문지 (JITR) Vol.24 No.4
Fuel efficiency improvement technology using power generation control is becoming more advanced. However, the operating environment on the road is not the same as the control logic, thus its efficiency is small. In this study, the method of limiting the driving force of the alternator using a DC reactor is a simple system that uses the characteristics of the coil. The changes of engine load ratio and injector fuel injection amount were analyzedusing a vehicle equipped with two alternators We also confirmed how to improve the sound quality of car audio by applying a noise filter. To propose a method of improving the fuel efficiency of automobiles by the method identified in this study, further research on the mounting position and the miniaturization of the product is needed.
라우드니스 등청감곡선에 기반한 자동차 AVN 시스템의 퓨즈 교체형 노이즈필터 개발
박봉석(Bong-Seok Park),박현철(Hyun-cheol Park),허정준(Jung-jun Her) 산업기술교육훈련학회 2020 산업기술연구논문지 (JITR) Vol.25 No.3
With the development of advanced driver assistance systems, the more reliable the autonomous driving technology is, the more the rest and entertainment times of the driver of the car increases. Hence, the importance of the entertainment function of automotive audio-video navigation (AVN) systems is increasing. Currently, the AVN system of automobiles has a monitoring function for fault diagnosis and a combination of functions. Applying these technologies is challenging for drivers who want to tune the audio quality to their musical taste. In this study, a method for upgrading the sound quality using a power supply noise filter without deforming the AVN system was developed. The low-pass attenuation that appeared as a side effect was solved by applying a filter using the loudness isotropic curve. In the installation method of the filter, the method of using a fuse holder minimized the inconvenience of AVN detachment and wiring. Based on the results obtained in this study, further research and improvement of the filter are required for audio tuning of various models.
Adaptive observer design for electrically driven mobile robots
Bong Seok Park(박봉석),Yoon Ho Choi(최윤호),Jin Bae Park(박진배) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
In this paper, we propose an adaptive observer for electrically driven mobile robots in the presence of parametric uncertainties. To estimate the unmeasured velocities of the mobile robot, we develop an adaptive observer using the transformation matrices which can solve the difficulty caused by the quadratic velocity terms depending on the uncertain parameters. Using the Lyapunov stability theory, we prove that all signals in a closed-loop system converge to zero. Finally, the simulation results demonstrate the effectiveness of the proposed observer system.