• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.223-231
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• 2014

Humanoid robot is the most suitable robot platform for effective human interaction and various intelligent services. The present work addresses development of real time wireless control application of humanoid robot's forward and backward walks, and turning in walking. For convenience of human users, the application is developed on Android OS (Operating System) working on his or her smartphone. To this end, theoretic background on various-directional biped walking is proposed based on joint trajectories for forward walking, which have been shaped with a global optimization method. In this paper, backward walking is scheduled by interchange of angles and angular velocities and additional change of signs in angular velocities at all the via-points connecting cubic polynomial trajectories. Turning direction in walking is also implemented by activating the transversal hip joint initially located in the support leg in two stages. After validation of the proposed walking schemes with Matlab simulator, a smartphone application for the omnidirectional walking has been developed to control a humanoid robot platform named DARwIn-OP interconnected via Wi-Fi. Experiment result of the present wireless control of a humanoid robot with smartphone is successful, and the application will be released in application market near future.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.937-942
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• 1993

This paper extends the authors' prior work on the regulation of flexible space structures via partial feedback linearization (PFL) methods to articulated systems. Recursive relations introduced by Jain and Rodriguez are central to the efficient formulation of models via Poincare's form of Lagrange's equations. Such models provide for easy construction of feedback linearizing control laws. Adaptation is shown to be an effective way of reducing sensitivity to uncertain parameters. An application to a flexible platform with mobile remote manipulator system is highlighted.

• Journal of Power Electronics
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• v.10 no.2
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• pp.171-175
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• 2010

This paper introduces the application of a SUI PID controller for permanent magnet (PM) drive systems. The drive system model is developed via FO control. Simulation of the system is carried out to predict the performance at no load and under load. The results and comparisons indicate that application of a SUI PID controller is effective for sensorless PM drive systems.

• International Journal of Control, Automation, and Systems
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• v.2 no.2
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• pp.207-219
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• 2004

This paper presents the development of a knowledge-based control system operating via the Internet. With the synergy provided by the Internet, the central expert controller with its knowledge-base has the potential to serve a multitude of front-end clients located anywhere in the world provided they have Internet access. In this way, the operational span of the knowledge-based control system can be expanded to virtually anyplace within the reach of the Internet. This configuration has positive implications in improving the efficiency of distributed operations, thereby enabling plantwide optimization and costs savings. Datasocket technology is adopted to facilitate a more efficient data exchange between the knowledge-based central server and the front-end clients. A specific application in the remote monitoring and fault diagnosis of machines using the proposed control configuration is presented in the paper.

• Journal of the Korea Convergence Society
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• v.5 no.4
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• pp.163-169
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• 2014

A stable neural network control scheme for unknown non-linear systems is developed in this paper. While the control variable is optimised to minimize the performance index, convergence of the index is guaranteed asymptotically stable by a Lyapnov control law. The optimization is achieved using a gradient descent searching algorithm and is consequently slow. A fast convergence algorithm using an adaptive learning rate is employed to speed up the convergence. Application of the stable control to a single input single output (SISO) non-linear system is simulated. The satisfactory control performance is obtained.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1496-1499
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• 1996

A nonlinear tracking control technique developed for the control of nonlinear systems has been applied to the autopilot design of missile system. The difficulties in the application of inversion based control methods such as input-output feedback linearization and sliding mode control due to nonminimum phase characteristics are discussed. To avoid the stability problem associated with unstable zero dynamics, the input-output feedback linearization is applied with output-redefinition method to normal acceleration control. The output-redefinition method gives an indirect way to apply the nonlinear controls to nonminimum phase plants by redefining the plant output such that the tracking control of the modified output ensures the asymptotic tracking of the original output. The numerical simulation shows satisfactory results both for nominal and for slightly perturbed missile systems adopting the sliding mode control technique. However, the robustness problem in this method is briefly investigated and verified with the simulation.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.785-791
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• 2008

This paper considers the problem of robust $H_{\infty}$ control for uncertain 2-D discrete systems in the General Model via output feedback controllers. The parameter uncertainty is assumed to be norm-bounded. The purpose is the design of output feedback controllers such that the closed-loop system is stable while satisfying a prescribed $H_{\infty}$ performance level. In terms of a linear matrix inequality, a sufficient condition for the solvability of the problem is obtained, and an explicit expression of desired output feedback controllers is given. An example is provided to demonstrate the application of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.452-459
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• 2007

This paper presents the flight control system using a PC104 with GPS and IMU. This System includes an Auto/Manual conversion module by PIC16 for safety, and homing type guidance algorithm to flight toward a scheduled target. We verify the performance of the flight control system via ground test, and present the possibility of application into UAV control system via comparison with the commercial system.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.263-272
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• 2008

We implemented a real-time servo system for a manipulator based on Laser Range Finder (LRF). and established algorithms for grasping a moving cylinder. We devised a manipulator mechanism and driving hardware based on a system board equipped with Xscale Processor with real-time operating system RTAI on Linux. The manipulator motor driver is connected to the system board via CAN communication link, and LRF is connected via RS-232C. We implemented real-time software including CAN device driver, RS-232C device driver, manipulator trajectory generator, and LRF control software. A typical application experiment for grasping a cylinder with circle motion demonstrated our system's real-time performance.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.217-220
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• 2005

The RPO algorithm is a recently developed tool in the area of reinforcement Loaming, And it has been shown In be very successful in several application problems. In this paper, we consider a robot-control problem utilizing a modified RPO algorithm in which its critic network is adapted via RLS(Recursive Least Square) algorithm. We also developed a MATLAB-based animation program, by which the effectiveness of the training algorithms were observed.