국태용 교수

A virtual target tracking approach is proposed for kinematic control of mobile robot. In the controller, linear and angular velocity inputs are generated by using the local data of robot position and orientation along with the estimated velocity of target object. Applying the proposed approach to a co-operative robot group with arbitrary number of multiple mobile robots, it is possible to create various robot formations for cooperative navigation and tracking of moving object. The developed cont

In this paper, an adaptive iterative learning controller (AILC) with input learning technique is presentedfor uncertain multi-input multi-output (MIMO) nonlinear systems in the normal form. The proposed AILC learnsthe internal parameter of the state equation as well as the input gain parameter, and also estimates the desired inputusing an input learning rule to track the whole history of command trajectory. The features of the proposed controlscheme can be briefly summarized as follows: 1) To th

We investigate the linear optimal control problems in the context of dynamic state feedback configuration. The dynamic state feedback is a dual structure of the dynamic observer. In conjunction with the well known arguments on linear matrix differential and Lyapunov equations, we elicit the fact that the quadratic performance index is always computable with this configuration. Based on this property, we suggest a nonlinear optimization programming method to get suboptimal or near optimal time-in

This paper presents a decentralized controller design for formation and traction control of multiple robotswith collision avoidance. The proposed control design consists of two steps: formation control design with collisionavoidance and traction control design for movement of robot formation along the desired trajectory. In thefirst step, a formation controller is designed based on the formation graph model of multiple robots and potentialfunction approach. Then, the traction control input is de

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemen

This paper presents an intelligent learning controller for repetitive walking motion of biped walking robot. The proposed learning controller consists of an iterative learning controller and a direct learning controller. In the iterative learning controller, the PID feedback controller takes part in stabilizing the learning control system while the feedforward learning controller plays a role in compensating for the nonlinearity of uncertain biped walking robot. In the direct learning controller

본 논문은 천장 영상 정보를 이용한 이동 로봇 위치추정 방법을 제안한다. 지도상에 천장 영상의 랜드 마크의 위치는 미리알고 있지만, 지도상의 랜드 마크와 감지된 랜드 마크 사이의 대응관계 정보는 주어지지 않는다. 단지, 로봇의 이동 시작단계에서 랜드 마크들에 대한 상대적인 로봇의 위치가 주어진다. 로봇의 위치 및 천장 영상에서 감지된 특징점의 ID를 찾기위해 파티클 필터 방법을 이용한다. 제안한 방법을 천장에 동일한 형태의 원형 랜드 마크를 가진 실내 환경에서 실험하여성능을 검증하였다. 본 논문에서 제안한 위치추정 방법은 레이저 영역 센서에 의해 측정된 벽까지의 거리 또는 RF 나초음파에 의해 측정된 비이컨까지의 거리 값에 큰 불확실성이 존재하는 물류 창고와 같은 환경에서 사용하기에 적합하.다

In this paper, we propose an adaptive backstepping controller to control the exact position and orientation of a remotely operated underwater vehicle with parametric model uncertainty. To further improve the angular velocity control precision of each thruster, a phase locked loop (PLL) controller has been added to the backstepping controller. A comparison of two backstepping controllers with and without the PLL control loop has been performed using simulations and experiments. The test results s

This paper analyzes robotic technology developed for live-line electricity distribution and its applicability to domestic environment. In doing so, available robotic systems developed for the live-line work are thoroughly investigated and compared in terms of from robotic functionality to economic feasibility. To assess the technology readiness for domestic live-line robot, the rubber gloves based direct live-line engineering methods have been also analyzed and mapped into robotic technology req

An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inputs. It is shown that all the error signals in the learning system are bounded and the repetitive robot

In this paper, we consider the observer design problem that truly reflects the nonlinear stiffness of the manipulators. The two key ideas of our design are that (a) estimation error dynamics of the manipulator equipped with accelerometer dose not dependent on nonlinearities at the link part, when the measured signals are the motor position and the output of the accelerometer and (b) the nonlinear stiffness is indeed a Lipschitz function. In order to effectively compensate the nonlinear stiffness

In this paper, an FLNN-based neural network controller is applied to precise positioning of XY table with friction as the extension study of [11]. The neural network identifies the frictional forces of the table and its weight adaptation rule, named the reinforcement adaptive learning rule, is derived from the Lyapunov stability theory. The experimental results with 2-DOF XY table verify the effectiveness of the proposed control scheme. It is also expected that the proposed control approach is a

This paper deals with the problem of estimating the asymptotic stability region(ASR) of uncertain variable structure systems with bounded controllers. Using linear matrix inequalities(LMIs) we estimate the ASR and show the exponential stability of the closed-loop control system in the estimated ASR. We give a simple LMI-based algorithm to get estimates of the ASR. We also give a synthesis algorithm to design a switching surface which will make the estimated ASR big. Finally, we give numerical ex

This paper presents a geospatial collision detection technique consisting of two methods: Find Object Distance (FOD) and Find Reflection Angle (FRA). We show how the geospatial collision detection technique using a computer vision system detects a computer generated virtual object and a real object manipulated by a human user and how the virtual object can be reflected on a real floor after being detected by a real object. In the geospatial collision detection technique, the FOD method de-tects

This study experimentally investigates the structural limitations of page cache–based data logging in embedded systems using local storage and provides practical guidelines for designing more stable high-bandwidth sensor logging pipelines. High-bandwidth sensors such as stereo cameras and LiDARs have become essential components of modern robotic systems, significantly increasing the volume of data that must be recorded for debugging, analysis, and autonomous system development. Raw data generate