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Multi-term Error 를 利用한 工程 Parameter의 收斂速度 改善에 關한 硏究
咸雲哲,宋祥燮,李俊煥 전북대학교 공업기술연구소 1983 工學硏究 Vol.13 No.-
A new parameter adaptive control scheme is outlined which uses multi-term error of an unknown, linear, scalar, discrete, minimum plant of known dynamical order. The technique is based on the estimating the parameters which characterize the dynamical behavior of the plant and generating feedback control input signal which makes plant output signal converge to the desired output signal. Computer simulation shows that multi-term error method can achieve fast parameter convergence provided that control input signal is "sufficiently rich" in frequency content and fast plant output signal convergence to the desired output signal.
함운철,후렐바타르 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.2
In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.
함운철 한국로봇학회 2006 로봇학회 논문지 Vol.1 No.1
Bicycle is one of convention transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bucycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.
적응제어를 이용한 Tacho 발전기의 전압 regulation 에 관한 연구
함운철,송상섭,이준환 全北大學校 1984 論文集 Vol.26 No.-
In this paper, Indirect adaptive control based on gradient algorithm is applied to the voltage regulation of tachometer connected to the D.C motor. Experimental over all system is assumed to be a second order linear discrete system. Experiment Data are abtained using HP-1000 minicomputer and 2240 A measurement and control processor. In section Ⅰ, and Ⅱ, the history of adaptive control theory and the indirect adaptive control theory using state variable filter are introduced. The experimental result and conculusion are discussed in section Ⅲ, and Ⅳ.