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- 저자 : Bong-Seok Park(박봉석) (검색결과 45 건)
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박봉석(Bong Seok Park) 조선대학교 IT연구소 2014 정보기술융합공학논문지 Vol.4 No.1
This paper proposes an adaptive observer for trajectory tracking of mobile robots in the presence of the skidding and slipping effects. Using the adaptive observer, we estimate the velocity as well as the skidding and slipping effects of the mobile robot. Thus, we can reduce the sensors to measure the velocity, skidding and slipping effects of the mobile robot. In order to design the adaptive observer, we use the Lyapunov stability theory and prove that all estimation errors are uniformly ultimately bounded. Finally, the performance of the proposed scheme is verified from simulation results.
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Sliding mode formation control for multiple mobile robots
박봉석(Bong Seok Park),최윤호(Yoon Ho Choi),박진배(Jin Bae Park) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
This paper proposes a sliding mode formation control method for nonholonomic mobile robots in the presence of disturbances. We use the kinematic model based on the leader-following approach for the formation control of multiple robots. The sliding mode control method is used to deal with disturbances acting on the mobile robots. The system stability and the convergence of tracking errors are proven using Lyapunov stability theory. Finally, we perform computer simulations to demonstrate the robustness and performance of the proposed control system.
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DC 리액터를 이용한 자동차 알터네이터의 구동력 제한과 카오디오 노이즈 필터링 효과에 관한 연구
박봉석(Bong-Seok Park),허정준(Jung-Jun Her) 산업기술교육훈련학회 2019 산업기술연구논문지 (JITR) Vol.24 No.4
Fuel efficiency improvement technology using power generation control is becoming more advanced. However, the operating environment on the road is not the same as the control logic, thus its efficiency is small. In this study, the method of limiting the driving force of the alternator using a DC reactor is a simple system that uses the characteristics of the coil. The changes of engine load ratio and injector fuel injection amount were analyzedusing a vehicle equipped with two alternators We also confirmed how to improve the sound quality of car audio by applying a noise filter. To propose a method of improving the fuel efficiency of automobiles by the method identified in this study, further research on the mounting position and the miniaturization of the product is needed.
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Adaptive observer design for electrically driven mobile robots
Bong Seok Park(박봉석),Yoon Ho Choi(최윤호),Jin Bae Park(박진배) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
In this paper, we propose an adaptive observer for electrically driven mobile robots in the presence of parametric uncertainties. To estimate the unmeasured velocities of the mobile robot, we develop an adaptive observer using the transformation matrices which can solve the difficulty caused by the quadratic velocity terms depending on the uncertain parameters. Using the Lyapunov stability theory, we prove that all signals in a closed-loop system converge to zero. Finally, the simulation results demonstrate the effectiveness of the proposed observer system.
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