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한성익 한국정밀공학회 2003 International Journal of Precision Engineering and Vol.4 No.5
Tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate for effects of friction. The conventional SMC method often shows poor tracking performance in high-precision position tracking application since it cannot completely compensate for the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the SMC method combined with the disturbance observer having tunable transient performance. Then this control scheme has the high precise tracking performance as well as a good transient response when it is compared with the conventional SMC method and the similar types of observers. The experiment on the XY ball-screw drive system with the nonlinear dynamic friction confirms the feasibility of the proposed control scheme.
Barrier Lyapunov function-based model-free constraint position control for mechanical systems
한성익,하현욱,이장명 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.7
In this article, a motion constraint control scheme is presented for mechanical systems without a modeling process by introducing a barrier Lyapunov function technique and adaptive estimation laws. The transformed error and filtered error surfaces are defined to constrain the motion tracking error in the prescribed boundary layers. Unknown parameters of mechanical systems are estimated using adaptive laws derived from the Lyapunov function. Then, robust control used the conventional sliding mode control, which give rise to excessive chattering, is changed to finite time-based control to alleviate undesirable chattering in the control action and to ensure finite-time error convergence. Finally, the constraint controller from the barrier Lyapunov function is designed and applied to the constraint of the position tracking error of the mechanical system. Two experimental examples for the XY table and articulated manipulator are shown to evaluate the proposed control scheme.
비선형 동적시스템에 대한 비선형 미분 외란관측기를 이용한 유한시간 Dynamic Surface 제어기 설계
한성익 제어·로봇·시스템학회 2019 제어·로봇·시스템학회 논문지 Vol.25 No.8
This study proposes a finite-time dynamic surface control (DSC) combined with a nonlinear differentiator disturbanceobserver for nonlinear systems, in which dynamics are partially known. The nonlinear differentiator disturbance observer, virtualstabilizing controllers, and final controller were designed based on finite-time convergent theorem via the recursive steps in conventionalDSC system. In conclusion, the study results show that the filtered output error due to the first-order filter in a conventionalDSC, which is the source of controller design complexity and stability, can be bypassed; this is because stability is provided by afinite-time Lyapunov function comprised of newly defined variables instead of the tracking error variables used in conventionalDSCs. Thus, the controller design procedure and stability analysis can be more intuitive than those of a conventional DSC. Anotherimportant study result is the design of a nonlinear differentiator disturbance observer for nonlinear systems to estimate uncertainty infinite-time. The study shows that very competitive results can be achieved using the proposed method, as shown by the simulationresults for an articulated manipulator system.
Prescribed Performance Fuzzy Backstepping Control for Nonlinear Large-Scale Systems
한성익,이장명 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.6
In this paper, a fuzzy backstepping control (BSC) is proposed in order to design a controller that guarantees a prescribed tracking error performance for nonlinear large-scale systems. A virtual error constraint variable whose basic idea originates from funnel control is defined for the purpose of a constraint variable in the recursive BSC design steps. In addition, an adaptive fuzzy system is considered to compensate for the unknown nonlinear dynamics and differentiated variables of the BSC system, which give rise to a complex controller structure because the repeated differentiation of the virtual control variable is used in the design procedures. Satisfaction of a prescribed performance and boundedness of the overall closed loop signals are evaluated via simulation and experiment.
분수-체계 외란 관측기와 분수-체계 슬라이딩 모드 제어기를 적용한 Euler-Lagrange 시스템에 대한 위치 제어
한성익 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.9
. A fractional-order based sliding mode controller and disturbance observer were developed for enhanced positioning performance of Euler Lagrange systems. First, an issue of a fractional-order sliding control was addressed to obtain rapid convergence compared to the conventional standard and terminal sliding mode controls. Next, a fractional-order disturbance observer based on the fractional-order sliding surface was developed to obtain more enhanced estimation performance over the integer-order based disturbance observer. In order to demonstrate the superior properties of the proposed strategies, simulations were performed for a three-link articulated manipulator.
한성익 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.4
This paper proposes a tracking error constrained dynamic surface control (DSC) method combined witha super-twisting control (STC) and a super-twisting nonlinear disturbance observer for a nonlinear strict-feedbacksystem, where the system functions are partially known. In the recursive dynamic surface control procedures,the stabilizing controls of the DSC were designed by combining the STC with the virtual tracking errors definedfrom the DSC design concept and estimate for uncertainty. A super-twisting nonlinear disturbance observer wasdesigned to estimate the unknown nonlinear function and external disturbance instead of using parameterizationof the nonlinear function or adaptive law in the conventional STC and DSC schemes. A simpler DSC designprocedure by eliminating necessity of differentiation of the filtered output error in the conventional DSC schemeand a tracking error constraining control scheme are also proposed. The proposed STC-DSC scheme combined witha super-twisting nonlinear disturbance observer has better tracking error performance and robustness to uncertaintythan control systems with a conventional nonlinear disturbance observer. The control scheme was evaluated throughsimulations with two nonlinear systems.
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.
순환형 신경망을 이용한 적응형 능동소음제어시스템의 성능 향상에 대한 연구
한성익,이태오,여대연,이권순,Han, Song-Ik,Lee, Tae-Oh,Yeo, Dae-Yeon,Lee, Kwon-Soon 한국정보통신학회 2010 한국정보통신학회논문지 Vol.14 No.8
순환형 신경망을 이용한 적응형 능동소음 제어시스템의 소음저감 성능을 개선한다. 능동소음제어에 가장 많이 사용되고 있는 FXLMS는 단순하고 계산 부담이 적지만 FIR 선형필터에 기반을 둔 필터링 방법이어서 주 경로 또는 2차 경로의 비선형특성에 취약한 단점이 있다. 본 연구에서는 이러한 비선형 특성과 불확실성에 대해 강인한 특성을 갖는 순환형 신경망 필터링 기법을 개발하여 능동소음 제어시스템의 소음 저감 성능을 개선함을 시뮬레이션을 통해 보인다. The performance of noise attenuation of the adaptive active noise control algorithm is improved using the recurrent neural network. The FXLMS that has been frequently used in the active noise control is simple and has low computational load, but this method is weak to nonlinearity of the main or secondary path since it is based on the FIR linear filter method. In this paper, the recurrent neural network filter has been developed and applied to improvement of the active noise attenuation by simulation.