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외란관측기를 바탕으로 $H_{\infty}$제어 방법을 이용한 수중 로봇 팔의 원격조종 제어기 설계
유지환,권동수,이판묵,홍석원,Ryu, Jee-Hwan,Kwon, Dong-Soo,Lee, Pan-Moon,Hong, Seok-Won 제어로봇시스템학회 2000 제어·로봇·시스템학회 논문지 Vol.6 No.7
This paper presents a robust and systematic bilateral controller design method for a teleoperation of an underwater manipulator. Disturbance observer is used as a local controller of the master and underwater slave manipulator to set up the teleoperation system as a nominal model by compensating coupled nonlinear terms model uncertainties and external disturbances in the water. Using the linearized master/slave model a $H_{\infty}$ optimal control scheme is applied to systematically construct a force reflecting bilateral controller.
유지환,Ryu, Jee-Hwan Institute of Control 2008 제어·로봇·시스템학회 논문지 Vol.14 No.11
Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused unstable behavior until the passivity controller is activated. Resetting scheme is introduced for solving this problem, and stable bilateral teleoperation can be guaranteed without worrying about the accumulated energy difference.
유지환(Jee-Hwan Ryu),박장식(Jang-Sik Park),Dmitry Ogay,Segey Bulavintsev,김혁(Hyuk Kim),송영욱(Young-wook Song),윤문영(Moon-Young Yoon),김재석(Jea-Seok Kim),강전진(Jeon-Jin Kang) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.8
This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.
Jee-Hwan Ryu(유지환) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.11
Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port caused unstable behavior until the passivity controller is activated. Resetting scheme is introduced for solving this problem, and stable bilateral teleoperation can be guaranteed without worrying about the accumulated energy difference.