• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.467-467
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• 2000

In this paper, a structural design method of robust motion controllers for high-accuracy positioning systems, which makes it possible to predict the performance of the whole closed-loop system, is proposed. First, a stabilizing control input is designed based on robust internal-loop compensate.(RTC) for the system in the presence of uncertainty and disturbance. Next, using the structural characteristics of the RIC, disturbance attenuation properties and the performance of the closed-loop system determined by the variation of controller gains are analyzed. Through this analysis, in some specific applications, it is shown that if the control gain of RIC is increased by N times, the magnitude of error is reduced to its 1/N. Finally, the proposed method is verified through experiments using a high-accuracy positioning system used in the semiconductor chip mounting devices.

• Proceedings of the KIEE Conference
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• summer
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• pp.117-119
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• 2004

An optimal flight motion simulator path generation method is proposed for hardware in the loop simulation of high maneuverable missile. The proposed method consists of open loop and closed loop path calculation algorithm based on the energy optimal control strategies. The optimal angle command is able to protect the simulator from high acceleration shock at initial control phase.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.109-112
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• 1989

Gun system operation is represented as a first-order Markov process, and an optimum linear filter is derived for closed-loop control of mean square error. Potential improvement is then estimated by contrasting the variance in performance and the auto correlation for open-loop system with that for the optimum linearly corrected process.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.501-507
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• 2007

This paper presents a new algorithm for the closed-loop $H_{\infty}$ control of a class of singularly perturbed nonlinear systems with an exogenous disturbance, using the successive Galerkin approximation (SGA). The singularly perturbed nonlinear system is decomposed into two subsystems of a slow-time scale and a fast-time scale in the spirit of the general theory of singular perturbation. Two $H_{\infty}$ control laws are obtained to each subsystem by using the SGA method. The composite control law that consists of two $H_{\infty}$ control laws of each subsystem is designed. One of the purposes of this paper is to design the closed-loop $H_{\infty}$ composite control law for the singularly perturbed nonlinear systems via the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.

• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.669-681
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• 2006

In this work, a new method of design adaptive controllers for SISO systems based on multiple models and switching is presented. The controller selects the model from a given set, according to a switching rule based on output prediction errors. The goal is to design, at each sample instant, a predictive control law that ensures the robust stability of the closed-loop system and achieves the best performance for the current operating point. At each sample the proposed control scheme identifies a set of linear models that best characterizes the dynamics of the current operating region. Then, it carries out an automatic reconfiguration of the controller to achieve the best possible performance whilst providing a guarantee of robust closed-loop stability. The results are illustrated by simulations a nonlinear continuous and stirred tank reactor.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.379-387
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• 2007

In this paper, a nonlinear anti-sway controller for container cranes with load hoisting is investigated. The considered container crane involves a planar motion in conjunction with a hoisting motion. The control inputs are two (trolley and hoisting forces), whereas the variables to be controlled are three (trolley position, hoisting rope length, and sway angle). A novel feedback linearization control law provides a simultaneous trolley-position regulation, sway suppression, and load hoisting control. The performance of the closed loop system is shown to be satisfactory in the presence of disturbances at the payload and rope length variations. The advantage of the proposed control law lies in the full incorporation of the nonlinear dynamics by partial feedback linearization. The uniform asymptotic stability of the closed-loop system is assured irrespective of variations of the rope length. Simulation and experimental results are compared and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.1-4
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• 1995

We propose a new design method for a generalized predictive control (GPC) system based on the parametrization of two-degree-of freedom control systems. The objective is to design the GPC system which guarantees the stability of the control system for a perturbed plant. The design procedure of our proposed method consists of three steps. First, we design a basic controller for a nominal plant using the LQG method and parametrize a whole control system. Next, we identify the deviation between the perturbed plant and the nominal one using a closed-loop identification method and design a free parameter of parametrization to stabilize the closed-loop system. Finally, we design a feedforward controller so as to incorporate GPC technique into our controller structure. A numerical example is presented to show the effectiveness of our proposed method.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.1
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• pp.69-78
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• 1999

In this study a new pattern of pressure control of hydraulic cylinder using high speed On-Off solenoid valve in the electro-hydraulic system has been suggested. The control valve is 3-way high speed On-Off solenoid valve which is operated by PWM(Pulse Width Modulation)control signal. The high speed On-Off solenoid valve has a tendency to induce severe pressure fluctuation in the hydraulic actuator so it has not been used for the purpose of closed loop control with direct pres-sure feedback. In this study closed loop control with direct pressure feedback is enabled by using a digital filter which has linear minimum mean square filter algorithm. Through some experiments it is confirmed that stable pressure control can be realized by the proposed control technique.

• Smart Structures and Systems
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• v.6 no.1
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• pp.1-16
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• 2010

This paper presents a novel smart MEMS accelerometer which employs a hybrid control algorithm and an estimator. This scheme is realized by adding a sliding-mode controller to a conventional PID closed loop system to achieve higher stability and higher dynamic range and to prevent pull-in phenomena by preventing finger displacement from passing a maximum preset value as well as adding an adaptive nonlinear observer to a conventional PID closed loop system. This estimator is used for online estimation of the parameter variations for MEMS accelerometers and gives the capability of self testing to the system. The analysis of convergence and resolution show that while the proposed control scheme satisfies these criteria it also keeps resolution performance better than what is normally obtained in conventional PID controllers. The performance of the proposed hybrid controller investigated here is validated by computer simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.1
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• pp.105-122
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• 2011

The fundamental design goal of wireless sensor MAC protocols is to minimize unnecessary power consumption of the sensor nodes, because of its stringent resource constraints and ultra-power limitation. In existing MAC protocols in wireless sensor networks (WSNs), duty cycling, in which each node periodically cycles between the active and sleep states, has been introduced to reduce unnecessary energy consumption. Existing MAC schemes, however, use a fixed duty cycling regardless of multi-hop communication and traffic fluctuations. On the other hand, there is a tradeoff between energy efficiency and delay caused by duty cycling mechanism in multi-hop communication and existing MAC approaches only tend to improve energy efficiency with sacrificing data delivery delay. In this paper, we propose two different MAC schemes (ADS-MAC and ELA-MAC) using closed-loop control in order to achieve both energy savings and minimal delay in wireless sensor networks. The two proposed MAC schemes, which are synchronous and asynchronous approaches, respectively, utilize an adaptive timer and a successive preload frame with closed-loop control for adaptive duty cycling. As a result, the analysis and the simulation results show that our schemes outperform existing schemes in terms of energy efficiency and delivery delay.