A robust control algorithm under disturbance and reference change is developed using a self tuning control method incorporting of the well known internal model principle and the annihilator polynomical. The types of disturbance and reference signal are assumed to be given as known difference polynomials. The algorithm is shown for a minimum phase system with parameters of unknown parameters.

In this paper, the novel sliding durfaces are proposed by defining the virtual states. These sliding surfaces have the nominal dynamics of the original system and make it possible that the sliding Mode Control(SMC) technique is used with various types of controllers. Its design is based on the augmented system which additional dynamics as many as input numbers. The reaching phase is eliminated by using the initial virtual states which make the initial sliding functions equal to zero.

This paper considers a decentralized control problem of dicrete LTI systems which have time delay between interconnections. This paper provides sufficient conditions for the decentralized controller to exist as a H$\infty$ disturbance attenuation ${\gamma}$ of a scaled system and shows that the controller can be designed by using the discrete standard $H_{\infty}$ control theory.

The properties of linear time-varying(LTV) systems vary because of the time-varying property of plant parameters. The generalized controller design method for linear time-varying systems does not exit because the analytic soultion of dynamic equation has not been found yet. Hence, to design a controller for LTV systems, the robust control methods for uncertain LTI systems which are the approximation of LTV systems have been generally ised omstead. However, these methods are not sufficient to reflect the fast dynamics of the original time-varying systems such as missiles and supersonic aircraft. In general, both the performance and the robustness of the control system which is designed with these are not satisfactory. In addition, since a better model will give the more robustness to the controlled system, a gain scheduling technique based on LTI controller design methods has been uesd to solve time problem. Therefore, we propose a new gain scheduled QFT method for LTV systems based on neural networks in this paper. The gain scheduled QFT involves gain dcheduling procedured which are the first trial for QFT and are well suited consideration of the properties of the existing QFT method. The proposed method is illustrated by a numerical example.

A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.

This paper provides a guideline for the determination of compliance characteristics and the proper location of the compliance center in typical peg-in-hole and peg-out-hole tasks using hands. We first observe the fact that some of coupling stiffness elements cannot be planned arbitrarily. The given peg-in/out-hole tasks are classified into two contact styles. Then, we analyze concluded of the operational siffness matrix, which achieve the give peg-in/out-hole tasks effectively for each case. It is concluded that the location of the compliance center on the peg and the coupling stiffness element existing between the translational and the rotational direction play ompliance on the peg and the coupling siffness element existing between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. The analytic results verified through simulations.

In this paper, a new impedance force control method for deburring and polishing process is proposed. The proposed method is robust to deal with unknown environment stiffness as unknown well as environment location. An adaptive technique is used to minimize the force error occurred due to unknown environment surface profile. A robust position control algorithm based on time-delayed information is used to cancel out uncertainties in robot dynamics. A three link robot manipulator is used to demonstrate performances of the proposed control on deburring and polishing tasks. Stability analysis for the adaptive control is presented and its results are confirmed by simulations.

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

In this paper we introduce a model based centralized hierarchical controller for cooperative team of soccerplaying multiple mobile robots. The hierarchical controller is composed of high-level and low-level controllers. Using the coordinates information of objects from the vision are simple models of multiple mobile tobots on the playground. Subsequently, the high level controller selects and action model corresponding to the perceived state transition model and generates subgoal and goal-velocity, from which the low level controller generates trajectory of each wheel velocity of the robot. This two layered simplicity. The feasubility of the control strategy has been demonstrated in an implementation for real soccer games at a MiroSot league.

In this paper, we developed modeling of tension and speed dynamics for a two-drum winder in a three span continuous web transport system which had not been previously. Dynamic modeling of the time-varying nonlinear system was derived by considering the effect of the radii and mass moment of inertia in the unwinder and the two-drum winder through winding up the web. After linearizing it, we designed with a variable-gain a PID controller for tension control and a PI controller for speed. Simulation is carried out with the variation of radii and moment of inertia at high speed for the proposed tension control system with the two-drum winder and the variavle-gain a PID controller. Results show good performance of tension control during the speed change speed at a start-up and stop.

A conventional advanced control algorithm is proposed in this paper for improved temperature regulation of a TV-glass melting furnace. The TV-Glass melting furnace is a typical MIMO(Multi-Input Multi Output) system which is subject to various thermal disturbances. Because of its complexity, a detailed mathematical model of the furnace is hard to establish. To design a temperature control control system of the furnace, major input-output variables are selected first, and simple FOPDT(First Order Plus Dead Time) models are established based on the physical meaning and experimental process data. Based on the FOPDT models, a multi-loop control system composed of cascade and single loops are designed for effective control of the MIMO system. Practical implementation on the 150 ton/day furnace using the DCS(Distributed Control System) showed that the proposed control technique performs better than manual control.

The uniformity of themperature on a wafer is a wafer is one the most important parameters to conterol the RTF(Rapid Thermal Process) with proper input signals. It is impossible to achieve the uniformity of temperature without the exact estimation of temperature ar all points on the wafer. There fore, it is difficult to understand the internal dynamics as well as the structural complexities of the RTP, which is aprimary obstacle to measure the distributed temperatures on the wafer accurately. Furthermore, it is also hard to accomplish desirable estimation because only a few pyrometers are available in the general equipments. In the paper, a thermal model based on the chamber grometry of the AST SHS200 RTP system is developed to effectively control the thermal uniformity on the wafer. First of all, the estimation method of one-point measurement is developed, which is properly extended to the case of multi-point measurements. This thermal model is validated through simulation and experiments. The proposed work can be utilized to building a run-by -run or a real-time control of the RTP.

A sequence planning method is proposed to reduce the assembly time of gantey-type chip mounters with single head. The overall path of the chip mounter is divided into forward and backward path, and formulate the optimization problem is formulated as an transpoetation problem and an Euler's tour problem. The transportation alforithm is applied to find optimal backward path, and Euler's tour algorithm used to generate an assembly sequence. Simulation results are presented to verify the usefulness of the proposed method.