In this paper, a new iterative learning control scheme for discrete time nonlinear systems is proposed based on an objective function consisting of the output error and input energy. The relationships between the proposed ILC and the optimal control are described. A new input update law is proposed and its convergence is proved under certain conditions. In this proposed update law, the inputs in the whole control horizon are updated at once considered as one large vector. Some illustrative examples are given to show the effectiveness of the proposed method.

We propose an adaptive nonlinear control algorithm for high precision tracking and stabilization of LOS(Line-of-Sight). The friction parameters of the LOS gimbal are estimated by off-line evolutionary strategy and the friction is compensated by estimated friction compensator. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Lyapunov stability theory, and its convergence is guaranteed under the limited modeling error or torque disturbance. The performance of the pro-posed algorithm is verified by computer simulation on the LOS gimbal model of a moving vehicle.

This paper proposes a practical gain-scheduling control law considering robust stability and performance of Linear Parameter Varying(LPV) systems in the presence of nonlinearities and uncertainties. The proposed method introduces LMI-based pole placement synthesis and also associates with a recently developed fuzzy control system based on Takagei-Sugenos fuzzy model. The sufficient conditions for robust controller design of linearized local dynamics and robust stabilization of fuzzy control systems are reduced to a finite set of Linear Matrix inequalities(LMIs) and solved by using co-evolutionary algorithms. The proposed method is applied to the longitudinal acceleration control of high performance aircraft with linear and nonlinear simulations.

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands. Through various assembly tasks, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. Also, we show that some of coupling stiffness elements in the operational space cannot be planned arbitrarily. As a result it is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

This paper presents design and analysis of a 6 degree-of-freedom new haptic device using a par-allel mechanism for interfacing with virtual reality. The mechanism is composed of three pantograph mecha-misms that, driven by ground-fixed servomotors. stand perpendicularly to the base plate. Three spherical joints connect the top of the pantograph with connecting bars, and three revolute joint connect connecting bars with a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived by using the screw theroy. Performance indices such as GPI(Global Payload Index), GCI(Global Conditioning index), Traslation and Orientation workspaces, and Sensitivity are evaluated to find optimal pa-rameters in the design stage. The proposed haptic mechanism has better load capability than those of the ex-isting haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation work-space mainly due to RRR type spherical joints.

This paper presents a sweeping path planning algorithm for an autonomous smearing robot. An automatic planner generates a sweeping path pattern by proposed five basic procedures. This algorithm rocog-nizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the track-ing points in such a way that(1) the connected line segments should not be crossed, (2) the total tracking points should be as short as possible, and (3) the tracking line should not pass through the obstacle, Feasibility of the developed techniques has been demonstrated on a real architectural CAD draft.

In this paper, a new architecture of operating software associated with the component-based method is proposed. The proposed architecture comprises 문 execution module and a decision-making module. In order to make effective development and maintenance, the execution module is divided into three components. The components are referred to as Symbol, Gateway, and Control, respectively: The symbol component is for the GUI environments and the standard interfaces; the gateway component is for the network communication and the structure of asynchronous processes; the control component is for the asynchronous processing and machine setting or operations. In order to verify the proposed architecture, and off-line version of operating software is made, and its steps are as follows; I) Make virtual execution modules for the manufacturing devices such as dual-arm robot, handling robot, CNC, and sensor; ii) Make decision-making module; iii) Integrate the modules and GUI using a well-known development tools such as Microsofts Visual Basic; iv) Execute the overall operating software to validate the proposed architecture. The proposed software architecture in this paper has the advantages such as independent development of each module, easy development of network communication, and distributed processing of resources, and so on.

This paper describes a methodology using neural network to compensate the nonlinear error of deriving speed for electric differential system included in electric vehicle. An electric differential system which drives each of the left and right wheels of the electric vehicle independently. The electric vehicle driven by induction motor has the nonlinear speed error which depends on a steering angle and speed command. When a vehicle drives along a curved road lane, the speed unblance of inner and outer wheels makes vehicles vibration and speed reduction. To compensate for the speed error, we collected the speed data of the inner wheel and outer wheel in various speed and the steering angle data by using an manufactured electric vehicle and the real system. According to the analysis of the acquisited data, we designed the differential speed control system based on a speed error compensator using neural network.

This paper presnts a controller for the heat capacity of thermal storage systems using off-peak electricity which is composed of an identifier using neural networks and a storage time adjuster in order to store exactly the required thermal energy without loss. Since thermal storage systems have nonlinear characteristics and large time constant, even if we predict the heating load accurately, it is very difficult to store exactly the required thermal energy. Thus, in the neural network for the identifier, the adaptive learning rate for high learning speed and bit inputs based on state changes of thermal storage power source are used. Also a hardware for the controller using a microprocessor is developed. The performance of the proposed controller is shown by experiment.

This paper presents a design procedure for the supervisory controller(SC) of the high-speed train car. The proposed SC manages control logic and scenario of the overall train system, and monitors input/output signals among the sub-controllers in the system, The roles and functions of each sub-control system are defined, and the interfaces among the control systems are developed. Train control system is modeled with automata, and the model is implemented into a program using a computer-aided software engineering(CASE) tool, Object GEODE, The designed SC is verified and evaluated by using simulation. The SC is shown to successfully perform the designed functions without any errors.

Multi-target tracking systems need to tracking several targets simultaneously. To track a target among the measurements of several targets, data association is needed. In this paper, a method using the cou-pled confidence region of predicted target position is proposed. The proposed method shows good performance in simulations of multi-target tracking systems.

This paper presents a new leveling algorithm that estimates the initial horizontal angles composed of roll angle and pitch angle for a moving or stationary vehicle. The system model of the EKF is designed by linearizing the nonlinear Euler angle differential equation. The measurement models are designed for the moving case and for the stationary case, respectively. The simulation results show that the leveling algorithm is ade-quate not only for acquiring the initial horizontal angles of the vehicle in the motion with acceleration and rotation but also for the stationary one.