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A new linear matrix inequality condition for robust -stabilizing proportional-derivative state-feedback controller design of polynomial matrix polytopes

A new linear matrix inequality condition for robust -stabili...

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作者： Lee, Dong-Hwan Park, Jin-Bae Joo, Young-Hoon Department of Electrical and Electronic Engineering Yonsei University Seodaemun-gu Seoul 120-749 Korea Republic of Department of Control Robot and Systems Engineering Kunsan National University Kunsan Chongbuk 573-701 Korea Republic of

ISBN: (纸本)9781424474530

This paper investigates the problem of robust D-stabilization for polynomial matrix polytopes. By employing proportional-derivative (PD) state-feedback controllers, a new sufficient condition is formulated in terms of a linear matrix inequality (LMI) feasibility problem. Example is given to demonstrate the validity and efficiency of the proposed approach. ©ICROS.

关键词： Stabilization

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Robust H∞ disturbance attenuation control of continuous-time polynomial fuzzy systems

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Journal of Institute of control, robotics and Systems 2016年第6期22卷 429-434页

作者： Jang, Yong Hoon Kim, Han Sol Joo, Young Hoon Park, Jin Bae Department of Electrical and Electronic Engineering Yonsei University Korea Republic of Department of Control and Robot Engineering Kunsan National University Korea Republic of

This paper introduces a stabilization condition for polynomial fuzzy systems that guarantees H∞ performance under the imperfect premise matching. An H∞ control of polynomial fuzzy systems attenuates the effect of external disturbance. Under the imperfect premise matching, a polynomial fuzzy model and controller do not share the same membership functions. Therefore, a polynomial fuzzy controller has an enhanced design flexibility and inherent robustness to handle parameter uncertainties. In this paper, the stabilization conditions are derived from the polynomial Lyapunov function and numerically solved by the sum-of-squares (SOS) method. A simulation example and comparison of the performance are provided to verify the stability analysis results and demonstrate the effectiveness of the proposed stabilization conditions. © ICROS 2016.

关键词： Stabilization

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Research on and education for navigation control of an exploration rover with microwave Doppler sensors (fabrication of the signal processing electrical circuit)

Research on and education for navigation control of an explo...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Masahiro Isogai Yuya Takada Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Aichi Japan

ISBN: (纸本)9781509027866

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was below that level. In this study, we fabricated a signal processing electrical circuit for the fourth prototype rover. To confirm the performance of the fabricated electrical circuit, we carried out some experiments on the frequency response of the electrical circuit. Finally, we had a questionnaire for the student who collaborated with this study to investigate how this study had an educational effect on the student.

关键词： Sensors Microwave circuits Microwave filters Band-pass filters Microwave antennas Low-pass filters

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System Design and Experiment of a Laryngeal Surgical robotic System 15

System Design and Experiment of a Laryngeal Surgical Robotic...

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15th International Conference on Ubiquitous robots, UR 2018

作者： Kim, Sang-Hwa Seo, Jong-Tae Woo, Jae Hong Yoon, Hyun-Soo Tae, Kyung Yi, Byung-Ju Division of Electrical Engineering Hanyang University Ansan Korea Republic of Department of Intelligent Robot Engineering Hanyang University Ansan Korea Republic of Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Ansan Korea Republic of Department of Otolaryngology-Head Hanyang University Neck Surgery College of Medicine Seoul Korea Republic of

ISBN: (纸本)9781538663349

A laryngeal surgical robotic system equipped with high quality 3-dimensional images and robot arms is developed to help the surgeon treat general diseases located at head and neck area. This paper is to describe a system configuration and demonstrate effectiveness of the laryngeal surgical robotic system. A mechanical construction of this system is based on a novel stackable parallel mechanism architecture. The EtherCAT communication protocol is used for real-time control. In order to confirm the effectiveness of the laryngeal surgical robotic system, experiments using phantom and cadaver were performed. © 2018 IEEE.

关键词： Real time control

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Tracking Algorithm Compensating Acceleration for 3D Maneuvering Target with PSO-FCM

Tracking Algorithm Compensating Acceleration for 3D Maneuver...

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IEEE International Conference on Fuzzy Systems

作者： Hyun Seung Son Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University South Korea Department of Control and Robot Engineering Kunsan National University South Korea

This paper presents an intelligent tracking method for nonlinear maneuvering target by compartmentalizing external noises of 3D maneuvering target. Proposed method makes the filter recognize the maneuvering target as linear one by separating acceleration properly from the overhaul noises. For achieving that, we use the particle swam optimization-fuzzy c-means (PSO-FCM) clustering as the criteria of methodology. The positional difference between measured point and predicted one is separated into acceleration and noise. Compartmentalized external noises plays the role of acceleration in accordance with assigned position and its quantity. Proposed algorithm makes approximated acceleration to be compensated and approximated noise is filtered by Kalman filter (KF). To depict the real maneuvering target and track the target with unlimited condition, we handle 3D dynamic model. Finally, some examples are provided to show the effectiveness of the proposed algorithm.

关键词： Noise Acceleration Target tracking Computer aided software engineering Noise measurement Clustering algorithms Adaptation models

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fuzzy filter for non-linear sampled-data systems under imperfect premise matching

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IET control Theory & Applications 2017年第5期11卷 747-755页

作者： Ho Jun Kim Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul 120-749 Republic of Korea Department of Control and Robot Engineering Kunsan National University Kunsan Chonbuk 573-701 Republic of Korea

This study proposes an fuzzy filtering technique for non-linear sampled-data systems that are represented on the basis of the Takagi–Sugeno fuzzy model. To improve the performance of the fuzzy filter, an imperfect premise matching condition is considered. An error system between the non-linear system and the fuzzy filter is constructed. In addition, sufficient conditions for showing asymptotic stability and guaranteeing disturbance attenuation performance are proposed in a Lyapunov sense and derived in terms of linear matrix inequalities. Finally, the feasibility of the proposed technique is demonstrated using two simulation examples.

关键词： H∞ filters pattern matching fuzzy set theory linear matrix inequalities H∞ fuzzy filter nonlinear sampled data systems imperfect premise matching Takagi-Sugeno fuzzy model error system asymptotic stability Lyapunov sense linear matrix inequalities

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Wireless remote control for an electromagnet-type moving microrobot (fabrication of prototype microrobot and experimental results)

Wireless remote control for an electromagnet-type moving mic...

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IEEE/SICE International Symposium on System Integration

作者： Masahiro Isogai Yoshiteru Nishiura Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Japan Aichi University of Technology Japan

In recent years, a large number of studies have focused on micro-robots. Moreover, yearly contests have been held in order to develop micro-robot technologies. As a result of these activities, various types of microrobot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type micro-robots. To date, the authors' research group has been studying a locomotion mechanism and control method for an electromagnet-type microrobot, which has a volume of 1[cm 3 ]. The proposed microrobot has a feature of being able to turn with single electromagnet coil using the difference of the vibration characteristics of the legs. In this paper, we propose a wireless remote control method for the microrobot, using the feature of the locomotion mechanism and control method. We report on some experimental results to confirm the fundamental function of the wireless remote control method proposed.

关键词： Vibrations Batteries Receivers robots Acceleration Wheels Brushes

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Research on and education for navigation control of an exploration rover with microwave Doppler sensors

Research on and education for navigation control of an explo...

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International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015

作者： Isogai, Masahiro Nawa, Yasuhiko Iijima, Toru Department of Electronic Control and Robot Engineering Aichi University of Technology 50-2 Manori Nishihazamacho Gamagori Aichi443-0047 Japan College of Environmental Technology Graduate School of Engineering Muroran Institute of Technology 27-1 Mizumoto-cho Muroran-shi Hokkaido050-8585 Japan

ISBN: (纸本)9781479966783

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of and plusmn;3 and deg;at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was below that level. In this study, we fabricated the third prototype rover. To confirm the effectiveness of the proposed method, we performed the experiments on the strength distribution of the microwave beam and on the navigation control with the fabricated rover. Finally, we had a questionnaire for the student who collaborated with this study to investigate how the education effects for the student were. © 2015 IEEE.

关键词： Microwave antennas

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Grain-level visualization of stress-strain distribution on fatigue crack via self-magnetic flux density: a brief experimental investigation

Grain-level visualization of stress-strain distribution on f...

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IEEE Instrumentation and Measurement Technology Conference

作者： I Dewa Made Oka Dharmawan Jinvi Lee Deparment of Control Intrumentation and Robot Engineering Chosun University Gwangju Republic of Korea Department of Electronic Engineering Chosun University Gwangju Republic of Korea

ISBN: (数字)9798350380903

ISBN: (纸本)9798350380910

Fatigue cracks exhibit unpredictable and rapid propagation, presenting challenges in comprehending their initiation, influenced by various physical and chemical parameters. To gain deeper insights into the nucleation and growth, understanding the convergence phenomenon in ferromagnetic materials requires visualization of the local stresses and phase changes around the defect. This necessitates a measurement system capable of not only imaging the defect but also stress mapping at high spatial resolution, ideally at grain-level. In this study, we explore how this can be achieved by integrating three-axis tunnel magnetoresistive (TMR) sensor with optical microscopy images. This integration was expected to facilitate the visualization of self-magnetic flux density and enable microstructure analysis on the material's surface. Employing this mapping technique, we observe and discuss the stress distribution around the crack at the grain level with three variation of defect depths direction: 0, 30, and 60 degrees.

关键词： Microscopy Data visualization Fatigue Tunneling magnetoresistance Spatial resolution Surface cracks Stress

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A new linear matrix inequality condition for robust D-stabilizing proportional-derivative state-feedback controller design of polynomial matrix polytopes

A new linear matrix inequality condition for robust D-stabil...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Dong-Hwan Lee Jin-Bae Park Young-Hoon Joo Department of Electrical and Electronic Engineering Yonsei University Seoul South Korea Department of Control Robot and Systems Engineering Kunsan National University Kunsan South Korea

关键词： Polynomials Linear matrix inequalities Robustness Symmetric matrices Bismuth PD control

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