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Control and Implementation of Underwater Vehicle Manipulator System |
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Jin-Il Kang(KIOST-KMOU, Korea), Hyeung-Sik Choi(Korea Maritime and Ocean University, Korea), Bong-Huan Jun(Korea Research Institute of Ship and Ocean Engineering, Korea), Ngoc-Duc Nguyen(Korea Maritime and Ocean University, Korea), Dong-Hee Kim(Hanwha Thales, Korea), Ngoc-Huy Tran(Ho Chi Minh city University of Technology, Viet Nam), Dae-Hyeong Ji(Korea Maritime and Ocean University, Korea) |
| For tasks like handling underwater objects, an Underwater Vehicle-Manipulator System can be used. Control of the motion of the manipulator is not easy since the vehicle can be easily destabilized. To secure stability of the UVMS, the Zero Moment Point algorithm is proposed. Also, to have optimal posture of the redundant manipulator, an optimization algorithm using redundancy resolution method is proposed. To verify the performance of the ZMP algorithm, a testbed was developed. The results show that the end-effector tracks the desired trajectory accurately while keeping the stability of UVMS. |
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A study of H infinity controller for a motor-variable heavy load system |
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Byoungil Jeon, Myung-kook Moon(Korea Atomic Energy Research Institute, Korea) |
| Because neutron experiment instruments deal with strong radiation, the structure required is huge and heavy. In some instruments, some plant parameters are changed by the status of the other connected components. In this paper, we define a plant that has variable parameters as a degree of uncertainty, and check the feasibility of controlling the plant using the H-infinity method through a computer simulation. To check the performance, simulation codes are implemented in a MATLAB and Simulink environment. PID and H-infinity controllers are implemented and their performances are compared. |
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Dimensional Analysis of Scaled Vehicle for Vehicle Dynamics Control Test |
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YeaYoung Park, Changsun Ahn(Pusan National University, Korea) |
| Dimensional analysis is used when the experiments are performed in a different scale. Many vehicle dynamics tests involving require a lot of resources in time and finance, so tests are performed virtually. Nevertheless, experiments are more appealing to prove efficiency of new system or algorithms. A good way is to perform scaled experiments. they are very beneficial for tests if the similarity between the real vehicle and the scaled vehicle is consistent. In this paper, we show similarity and its limitation between the real and scaled vehicle test. Furthermore, we provide some suggestions. |
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H∞ fuzzy filter for nonlinear sampled–data system using fuzzy Lyapunov |
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Ho Jun Kim, Jin Bae Park(Yonsei University, Korea), Young Hoon Joo(Kunsan National University, Korea) |
| This paper proposes an H_1 fuzzy filter for nonlinear sampled–data system. The nonlinear system is represented
based on the Takagi–Sugeno (T–S) fuzzy model. An error system between the nonlinear sampled–data system
and fuzzy filter is presented. Using a fuzzy Lyapunov function, sufficient conditions for showing H_1 performance of the
fuzzy filter are proposed. The sufficient conditions are derived in terms of linear matrix inequalities (LMIs) which can be
easily solved using convex optimization technique. Finally, simulation example is provided to show the feasiblity of the
proposed method |
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Backstepping Control Using Self-aligning Torque for Lateral Control of Autonomous Vehicles |
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Joori Lee(Hanyang University, Korea), Wonhee Kim(Chung-Ang University, Korea), ChangMook Kang(Hanyang University, Korea), Young-Seop Son(CAMSYS Corporation, Korea), Chung Choo Chung(Hanyang University, Korea) |
| In this study, We propose a torque overlay-based steering wheel angle control method of electric power steering(EPS) for lateral control with self-aligning torque. The main idea is that self-aligning torque is used as an assist torque to control EPS for lateral control. The proposed method consists of an augmented observer and backstepping controller. The augmented observer estimates the full state and a self-aligning torque for calculating EPS control torque. The controller is designed as a backstepping structure satisfied the Lyapunov stability. |
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Stability Analysis of Nonlinear Ball on Beam System and Controller Using LQG Algorithm |
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Boc Minh Hung, Sam-Sang You, Hyeung-Sik Choi, Mai The Vu, Sang-Ki Jeong, Hyun-Joong Son(Korea Maritime and Ocean University, Korea) |
| A ball on beam system is a highly nonlinear mechanical model intended to test the control algorithm, because this model is similar to the control of self-balancing vehicle or Autonomous Underwater Vehicle (AUV) and other complicated systems. The complete system includes a ball, a beam, a motor and several sensors. The torque is generated from the motor to control the position of the ball on the beam, where the ball rolls on the beam freely. This paper applies Linear Quadratic Gaussian (LQG) method to control the system. This control method can make the system more stable and fast response. |
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