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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.
Seong-Ik Han(한성익) 제어로봇시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.7
In this paper, a supertwisting algorithm (STA) based backstepping control (BSC) for multiple-input and multiple-output nonlinear strict-feedback systems with a nonlinear extended state observer (EOB) and full tracking error constraint control is presented. The output and the virtual tracking errors were included in new state variables defined in the concept of the STA used to design virtual stabilizing controls and final controllers in the recursive BSC design procedures. Unknown uncertainties resulting from dynamic perturbation and external disturbance were estimated using an EOB to obtain better estimation performance than that of the conventional nonlinear disturbance observer. Thus, combining the STA and EOB systems, we found that the designed STA-BSC system inherited the finite-time tracking performance and robustness from the conventional BSC systems, which were designed on the basis of an infinite-time convergence concept. Moreover, the full tracking error constraint control method, as an extended version of the output tracking error constraint control, is presented to ensure that all the tracking errors are within the prescribed boundaries. The proposed control scheme was verified through simulated applications to a robot manipulator system.
마찰변수 관측기와 적응순환형 퍼지신경망을 이용한 PMLSM의 강인한 위치제어
한성익(Seong Ik Han),여대연(Dae Yeon Rye),김새한(Sae Han Kim),이권순(Kwon Soon Lee) 한국생산제조학회 2010 한국생산제조학회지 Vol.19 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<SUB>∞</SUB> 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),Sae Han Kim(김새한),Dae Yeon Yeo(여대연),Young Do Lim(임영도),Kwon Soon Lee(이권순) 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
This paper deals with the longitudinal emergency braking problem of vehicles based on a LuGre tire-road dynamic friction which contains a directly immeasurable internal friction state and variations of the vehicle mass, aerodynamic force and friction parameter. In order to provide the efficient solution to these braking control problems, we propose the composite control scheme, which consists of the robust friction state observer, the RFNN estimator and adaptive reconstructed effort estimator with backstepping control. The backstepping controller and the robust tire-road friction state observer is designed firstly. Next, the RFNN estimator is adopted to approximate the unknown lumped variations of vehicle system. Finally, the adaptive reconstructed error estimator is designed to compensate the approximation error of the RFNN estimator. The proposed control system shows that when applied to a longitudinal emergency braking maneuver, vehicles can be stopped quickly than the cases without RFNN through some simulations.
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.