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RISS 인기검색어
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- 저자 : 좌동경 (검색결과 123 건)
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좌동경,홍석교,최현철 제어·로봇·시스템학회 2007 제어·로봇·시스템학회 논문지 Vol.13 No.10
This paper presents an LMI-based method to design a saturated state-feedback H2 controller for uncertain systems with actuator saturation. Specifically, the paper proposes a sufficient condition such that the system under norm-bounded uncertainties and actuator saturation is asymptotically stable and the H2-norm of the system has an upper-bound. The resulting condition is further utilized to solve a convex optimization problem specified in the context of H2-norm minimization, whose solution yields a saturated H2 controller. A numerical example is presented to show the effectiveness of the proposed method.
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카메라를 이용한 3차원 공간상의 이동 목표물의 거리정보기반 모션추정
좌동경(Dongkyoung Chwa) 대한전기학회 2016 전기학회논문지 Vol.65 No.12
Range-based motion estimation of a moving object by using a camera is proposed. Whereas the existing results constrain the motion of an object for the motion estimation of an object, the constraints on the motion is relieved in the proposed method in that a more generally moving object motion can be handled. To this end, a nonlinear observer is designed based on the relative dynamics between the object and camera so that the object velocity and the unknown camera velocity can be estimated. Stability analysis and simulation results for the moving object are provided to show the effectiveness of the proposed method.
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외란 보상 기법을 이용한 비선형시스템에서의 미지의 시변 사인파형 외란 보상
左東京(Dongkyoung Chwa) 대한전기학회 2007 전기학회논문지 Vol.56 No.10
This paper presents methods for the compensation of sinusoidal disturbances with unknown amplitude, phase, and time-varying frequency in nonlinear systems. In the previous disturbance accommodation methods, the sinusoidal disturbance with unknown time-invariant frequency was considered. In the proposed method, the disturbance with unknown time-varying frequency is compensated. As for the control structure, two control inputs are designed separately in such a way that one of them is designed for the nonlinear system control without considering the disturbance, and the other one uses the disturbance estimate obtained from the disturbance accommodating observer. The stability analysis is done considering the disturbance estimation error and the numerical simulation demonstrates the proposed approach.
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좌동경(Dongkyoung Chwa) 대한전기학회 2016 전기학회논문지 Vol.65 No.12
In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.
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목표물의 불확실성과 제어루프 특성을 고려한 추정기 기반 적응 유도기법
최진영,좌동경 제어로봇시스템학회 2004 제어·로봇·시스템학회 논문지 Vol.10 No.8
This paper proposes an observer-based method for adaptive nonlinear guidance. Previously, adaptive nonlinear guidance law is proposed considering target maneuver and control loop dynamics. However, several information of this guidance law is not available, and therefore needs to be estimated for more practical application. Accordingly, considering the unavailable information as bounded time-varying uncertainties, an integrated guidance and control model is re-formulated in normal form with respect to available states including target uncertainties and control loop dynamics. Then, a nonlinear observer is designed based on the integrated guidance and control model. Finally, using the estimates for states and uncertainties, an observer-based adaptive guidance law is proposed to guarantee the desired interception performance against maneuvering target. The proposed approach can be effectively used against target maneuver and the limited performance of control loop. The stability analyses and simulations of the proposed observer and guidance law are included to demonstrate the practical application of our scheme.
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