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외란관측기 기반의 임피던스 제어와 ISMC를 이용한 메카넘 휠 이동로봇의 강인 궤도 추적 제어
천효석(Hyoseok Cheon),윤태성(Taesung Yoon),박승규(Seungkyu Park) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
Mobile robots equipped with mecanum wheels can move in all directions, unlike ordinary wheeled mobile robots. In this paper, we propose a robust trejectory tracking control method for the mecanum wheeled mobile robot in the presence of disturbances. It is constructed by combining impedance control with ISMC(Integral Sliding Mode Control), which shows robust performance against disturbances, and adding a disturbance observer(DOB) that estimates and removes disturbances. Simulation result using MATLAB/SIMULINK shows that the proposed control method has robust performance in tracking the reference trajectory under the circumstance with disturbance. The control performance is further improved when the disturbance observer is additionally used.
개선된 과도응답을 갖는 외란관측기 기반 강인한 백스테핑 제어
박태민(Taemin Park),차재준(Jaejun Cha),윤태성(Taesung Yoon),박승규(Seungkyu Park) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.4
This paper proposes a novel state space DOB (Disturbance Observer) to preserve nominal transient characteristics without inevitable deterioration in existing DOB-based control systems. The novel DOB is modified by introducing an additional auxiliary variable to guarantee Lyapunov stability of the DOB-based control system where the nominal system dynamics and the disturbance estimation error are considered simultaneously in a Lyapunov candidate function. It ensures that the states of DOB-based control system stay on the nominal responses and the disturbance estimation error converses to zero. By contrast, in existing DOB-based control, the DOB focuses only on the better disturbance estimation without considering inevitable estimation error in transient time which deteriorates the system response, therefore, nominal transient response cannot be preserved. The proposed DOB-based control is combined with backstepping control to cope with mismatched disturbances.
특수학교 전공과 교사의 배움중심수업 경험에 대한 협력적 자문화기술지
정진식(Jinsic Jung),임경원(Kyoungwon Lim),복헌수(Hunsoo Bok),박은수(Eunsu Park),윤태성(Taesung Yoon),류수연(Suyeon Ryu) 한국질적탐구학회 2021 질적탐구 Vol.7 No.1
이 연구는 협력적 자문화기술지 방법을 활용하여 특수학교 전공과 교사가 배움중심수업을 어떻게 실천하고 있는지 살펴보았다. 이를 위하여 나의 교단 일기를 포함한 개인 내부자료와 동료 연구자들과의 회의자료, 교육 현장의 문서자료를 수집하였고, 실용적 절충주의에 기초한 포괄적 분석 절차를 활용하여 핵심범주(7개)를 생성하였다. 연구 결과, 첫째, 현재 학생들의 삶과 배움을 기반으로 전공과의 정체성을 형성하고자 노력하였다. 둘째, 교육행정과 제도의 테두리 속에서 학생들과 만들어가는 교육과정 운영을 실천하였다. 셋째, 학생들의 흥미와 지역사회에 대비할 수 있는 인재상을 충족하기 위해 교사가 가르침의 주체로서 적극적인 역할을 수행하였다. 넷째, 학교 내 구성원을 대상으로 전공과 인식개선 활동을 실시하여 교육 여건 개선에 힘쓰고 있었다. 다섯째, 지역사회 내 기관과 교육협약을 통해 전공과 이수 후에도 학생의 배움이 지속될 수 있도록 하였다. 여섯째, 전공과 교사의 전문성에 대한 회의적인 시선 속에서도 전문적학습공동체 활동 등으로 가르침의 주체로서 전문성 신장을 위해 노력하였다. 마지막으로 학생이 보호받는 사람과 주변인에 머무르지 않도록 배움의 주체로서 그들의 목소리를 낼 수 있는 배움의 장을 형성하였다. 이러한 연구 결과는 향후 특수교육 분야의 전공과 교육과정에서 배움중심수업을 실천하기 위한 기초자료로 활용될 수 있을 것이다. This study set out to examine the experience formed across post-secondary program of vocational education to practice learning-oriented class, using the method of collaborative autoethnography. For this purpose, the investigator collected materials from meetings with peer researchers and documents from the field of education along with his private materials, including the teacher’s journals. Following the comprehensive analysis procedure based on practical eclecticism, (seven) core categories were defined. The findings were as follows: first, the teachers made efforts to buildthe identity of post-scondary program of vocational education based on the lives and learning of students; second, they practiced curricular management in collaboration with their students within the frameworks of educational administration and institution; third, they played active roles as the subject of teaching to satisfy students’ interest and meet the community’s need for the right talents; fourth, they engaged in an activity of improving the perceptions on their majors to target the members of the school and tried to improve educational conditions; fifth, they made it sure that students’ learning would continue even after they completed their post-secondary program of vocational education courses through educational agreements with institutions within the community; sixth, they made efforts to enhance their professionalism as the subjects of teaching through community activities to further enhance professional expertise despite people’s skeptical eyes on their professionalism as teachers in their post-secondary program of vocational education areas; and lastly, they established a venue of learning in which students were allowed to voice their opinions as the subjects of learning so that they would not remain as those in need of protection or stay marginalized. These findings are expected to serve as basic data to practice learning-oriented class in the post-secondary program of vocational education in special-education school of different areas in special education.
김태원(Taewon Kim),하동우(Dongwoo Ha),박승규(Seungkyu Park),윤태성(Taesung yoon),안호균(Ho Gyun Ahn) 대한전기학회 2006 대한전기학회 학술대회 논문집 Vol.2006 No.7
In this paper, a robust Extended Kalman filter is proposed by introducing a new sliding mode surface. This filter can be used for the system with a matching condition The new state estimater is designed for stochastic systems with bounded uncertainties