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Design of a Fuzzy Compensator for Balancing Control of a One-wheel Robot
Sangdeok Lee,Seul Jung 한국지능시스템학회 2016 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.16 No.3
For the balancing control of a one-wheel mobile robot, CMG (Control Moment Gyro) can be used as a gyroscopic actuator. Balancing control has to be done in the roll angle direction by an induced gyroscopic motion. Since the dedicated CMG cannot produce the rolling motion of the body directly, the yawing motion with the help of the frictional reaction can be used. The dynamic uncertainties including the chattering of the control input, disturbances, and vibration during the flipping control of the high rotating flywheel, however, cause ill effect on the balancing performance and even lead to the instability of the system. Fuzzy compensation is introduced as an auxiliary control method to prevent the robot from the failure due to leaning aside of the flywheel. Simulation studies are conducted to see the feasibility of the proposed control method. In addition, experimental studies are conducted for the verification of the proposed control.
Sangdeok Lee,Seul Jung 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6
This article introduces a novel identification technique for the inverse model of a dynamical system by a dual-recursive least square (DRLS) algorithm to estimate the disturbance torque in the disturbance observer (DOB) configuration. Since the DOB uses the inverse model to estimate the disturbance, the accurate estimation of the inverse model affects the external torque estimation performance. To estimate the inverse model more accurately, Monte Carlo simulation is conducted for two RLS filters formed a back-to-back cascaded structure to identify bothforward and inverse models simultaneously. Although the inverse model can be numerically driven by the identified forward model in the conventional way, we can have the improved accuracy of estimating the inverse model by dual-RLS filters. The effects on the external torque estimation accuracy by the proposed method are experimentally verified by evaluating the performance of estimating the disturbance torque in the control moment gyroscope (CMG) actuator.
SoC Implementation of Asynchronous Two-Way Ranging System of Chirp Spread Spectrum
Sangdeok Kim,Jong-Wha Chong 대한전자공학회 2015 ITC-CSCC :International Technical Conference on Ci Vol.2015 No.6
We implemented the SoC design of a subspace-based two way ranging system with chirp spread spectrum (CSS) modem. The subspace-based TOA estimation algorithms have high accurate estimation ability and have been utilized in most of super-resolution ranging system. For data communication, synchronization algorithms for CSS signal have been implemented in FPGA and subspace-based time delay estimation algorithm have been implemented in software based on reconfigurable NIOS architecture. We verified the ranging system through experiments using prototype ranging system. Measurements in hallway and room are presented.