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ROV 제어를 위한 수중환경변화의 추정기 설계에 관한 연구
김환성(Hwan-Seong Kim),유삼상(Sam-Sang You),최형식(Hyeung-Sik Choi) 한국마린엔지니어링학회 2009 한국마린엔지니어링학회 학술대회 논문집 Vol.2009 No.-
In this paper, an estimator design of underwater environment changes is proposed by using observer techniques for ROV control. The underwater environment changes is considered as an unknown input term for ROV model and it is added into the input term of ROV model. To estimate the environment changes, an unknown input PI observer which does not effected the unknown input term is proposed.
ONE-CHIP 마이크로 컴퓨터에 의한 회전형 도립 전자의 Hybrid 제어
김환성(Hwan-Seong Kim),김상봉(Sang-Bong Kim) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
In the paper, a hybrid control approach for the swing-up control of a rotary type inverted pendulum is treated using one-chip microcomputer. The control for swing up control and the linear state feedback control to achieve the disired inverted-state of the pendulum. The one-chip microcomputer with 3096 cpu as the digital controller incorporating the above mentioned control approach.