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양호석(Ho Seog Yang),이건복(Gun Bok Lee) 한국생산제조학회 2006 한국생산제조학회지 Vol.15 No.5
This Paper presents a new control scheme that combines a sliding mode control and a neural network. In the proposed sliding mode control, a continuous control is employed removing the switching phenomena and the equivalent control within the boundary layer is estimated through on-line learning of the neural network. The performances of the proposed control are compared with off-line neural network and on-line neural sliding mode control by computer simulation. The simulation results show that the proposed control reduces high frequency chattering and tracking error in example of the two link manipulator.
매개변수 불확실성과 외란이 있는 시스템의 출력미분치 추정
김유승(Yu Seung Kim),양호석(Ho Seog Yang),이건복(Gun Bok Lee) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.5
This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties are known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances, Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller) Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.
남궁재관(Chai-Kwan Namkoong),양호석(Ho-Seog Yang) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
Analog controller design is proposed using feedback system identification in frequency domain. System stability imposed by a new controller is checked in the function of a conventional closed-loop system, instead of a poorly modeled plant due to non-linearity and disturbance as well as unstable components, etc. The stability of the system is evaluated in view of Nyquist stability. All the equations are formulated in the framework of the discrete-time system. Simulation results are shown on the plant with input saturation and DC disturbance.
김유승,양호석,이건복 한국공작기계학회 2002 한국공작기계학회 춘계학술대회논문집 Vol.2002 No.-
This work is concerned with the estimation of output derivatives and their use for the design of robust controller for linear systems with systems uncertainties due to modeling errors and disturbance. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties are known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted trough restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Controller) Type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.