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퍼지 외란 관측기법을 이용한 아크로봇의 적응형 강인 스윙업 및 밸런싱제어
정성찬(Seongchan Jeong),이상협(Sanghyob Lee),홍영대(Young-Dae Hong),좌동경(Dongkyoung Chwa) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.5
This paper proposes an adaptive robust control method for an acrobot system in the presence of input disturbance. The acrobot system is a typical example of the underactuated system with complex nonlinearity and strong dynamic coupling. Also, disturbance can cause limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point. To minimize the effect of the disturbance, we apply a fuzzy disturbance estimation method for the swing-up and balancing control of the acrobot system. In this paper, both disturbance observer and controller for the acrobot system are designed and verified through mathematical proof and simulations.
목표물의 거리 및 특징점 불확실성 추정을 통한 매니퓰레이터의 영상기반 비주얼 서보잉
이상협(Sanghyob Lee),정성찬(Seongchan Jeong),홍영대(Young-Dae Hong),좌동경(Dongkyoung Chwa) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.6
This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.