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서형태,Soohyun Kim,김경수 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.7
In the paper, a generalized H∞ framework for design of a disturbance observer (DOB) is newly presented for a class of linear time-invariant single-input/single-output systems. Motivated by the systematic synthesis of a stabilizing controller through the H∞ optimization, we formulate the DOB design method into an H∞ design problem with weighting functions in the frequency domain. Thanks to its generality, the proposed method can be consistently applied either to the unstable systems or the non-minimum phase systems. Through the examples, the efficacy of the method is validated.
외란 관측기를 이용한 유체정역학적 구동 시스템의 백스테핑 제어
서형태,강대겸,김경수,김수현 제어·로봇·시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.1
In this paper, a backstepping control based on disturbance observer is proposed for an electro-hydrostatic actuation (EHA) system. Compared to a conventional hydraulic system, the EHA system, which employs a closed circuit with a bi-directional pump, is known to be more energy efficient and environmentally clean. To solve the problem induced by mismatched disturbances in the cylinder position control, a backstepping controller combined with a disturbance observer is designed using the derived nonlinear model of the system. The experimental result shows that the performance of the proposed controller is more robust than that of a conventional backstepping controller and a PID controller.
재난대처 로봇의 매니퓰레이터 구현 및 7축 여유자유도 매니퓰레이터의 역기구학 해석
박지혁(Jihyuk Park),서형태(Hyung-Tae Seo),김준혁(Jun Hyeok Kim),이민재(Min Jae Lee),김경수(Kyung-soo Kim),김수현(Soohyun Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
It is necessary for robot arm generating spatial motion which is composed of more than 6 axes to cope with disaster on behalf of the people. This paper presents the 7 DOF robot arm which is realized by using both commercial 6 DOF robot arm (LWA-4P) and 1 DOF actuator (PRL+120). Position control method is used to operate the robot arm. For position control, generating smooth joint trajectory is necessary. Closed form solution of the inverse kinematics is analyzed to avoid the joint limits and singularity using the redundancy of a 7 DOF manipulator. The inverse kinematic solution has the advantages of being more exact with low computational cost compared with inverse kinematic solution using numerical method.