• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권1호
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• pp.58-65
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• 2003

In this paper, a new model, which is a Takagi-Sugeno fuzzy model, for mobile robot is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and the outer loop is a PI controller designed for tracking the reference input, is suggested. Because the robot dynamics is nonlinear, it requires the controller to be insensitive to the nonlinear term. To achieve this objective, the model is developed by well known T-S fuzzy model. The design algorithm of inner state-feedback loop is regional pole-placement. In this paper, regions, for which poles of the inner state feedback loop are lie in, are formulated by LMI's. By solving these LMI's, we can obtain the state feedback gains for T-S fuzzy system. And this paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ(linear quadratic) cost. By using these properties, it is also shown in this paper that the PI controller can be obtained by solving the LQ problem.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.55-58
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• 2003

A LQ-servo PI controller is proposed to deal with the uncertainty caused variations of load inertia of direct drive do motor by using loop shaping technique.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 추계종합학술대회 논문집
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• pp.728-731
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• 1999

This paper concerns a development of LQ-servo PI controller design on the basis of time-domain approach. This is because the previous design techniques developed on the frequency-domain is not well suited to meet the time-domain design specifications. Our development techniques used in this paper is based on the convex optimization methods including Lagrange multiplier, dual concept, semidefinite programming.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.420-424
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• 1994

In this paper, an active suspension system considering the wheel hop is studied for a quarter car model. A LQ controller controls an active suspension system in which a vibration absorber is attached to the wheel axis. The vibration absorber is adopted to reduce the vibration near the natural frequency of the unsprung mass, and the LQ controller is used to control the vibration near the natural frequency of the sprung mass. The perfomance of the control system considering the wheel hop is compared with that of a LQ control system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.327-330
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• 2003

This paper presents an optimal robust LQ-PID controller design method for the second-order system with both small state delay and small input delay to satisfy the design specifications in time domain. The modified sensitivity approach method is considered for its optimization.

• 한국산업융합학회 논문집
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• 제10권4호
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• pp.271-274
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• 2007

In this paper, we propose a intelligent controller design method for the water level control of the power plant drum in the form of nonminimum phase system. The proposed method is based on T. Takagi and M. Sugeno's fuzzy model. And we illustrate the improved characteristics as the simulation results, comparing with the conventional the PID and LQ controller design method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.44-47
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• 1996

An optimal preview controller based on the discrete-time $H_{.inf}$ control is presented. The preview controller is synthesized by considering the bounded unknwon disturbances as well as previewable commands and disturbances. The controller derivation procedure is analogous to the LQ-based scheme. The designed preview gain matrix has a similar structure as the LQ-based one. As the infinity norm .gamma. of the transfer function matrix tends to .inf., the preview gains obtained by $H_{\infty}$ control method approach to the gains by the LQR. The LQ-based preview gains are verified to be subsets of the $H_{.inf}$ -based preview gains..

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.864-867
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• 1990

In this paper, a state space solution to the discete time H$_{\infty}$ control problem is presented. It is shown that there exist LQ game problem corresponding to H$_{\infty}$ control problems and the H$_{\infty}$ controller can be obtained by solving the LQ game problem. Explicit state space formulae are given for the state feedback H$_{\infty}$ controller and output feedback H$_{\infty}$ controllers.lers. state feedback $H_{\infty}$ controller and output feedback $H_{\infty}$ controllers.

• 조명전기설비학회논문지
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• 제16권6호
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• pp.40-50
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• 2002

본 논문에서는 정지형 무효전력 보상기에 대한 최적 LQ 제어기의 가중행렬 선정과정을 유전알고리즘을 이용하여 최적의 가중행렬을 결정하는 기법을 제시하였다. FACTS로 분류되는 여러 기기중 고정된 용량의 커패시터와 싸이리스터 제어에 의하여 용량이 가변되는 인덕터가 병렬로 연결된 구조를 가지고 있는 SVC 시스템은 전압을 효과적으로 제어할 뿐만 아니라 동기발전기의 댐핑을 향상시킬수 있다. LQ제어기의 설계는 최적 가중행렬 선정에 의존하므로 본 논문에서는 종래의 일반적인 방법과는 달리, 자연 생태계의 진화를 모의한 전역적 탐색 최적화 기법인 유전 알고리즘을 이용하여 설계하였다. 이에 대해 고유치 해석과 시뮬레이션을 통해 제어성능을 검토하여 우수한 제어 성능을 가지는 제어기를 최적화 기법인 GA에 의해서 설계할 수 있음을 확인하였다

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2513-2516
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• 2003

This paper presents an optimal robust LQ-PID roller design method for the second-order ems with state delay to satisfy the design ification in time domain. The Sensitivity bach concept is utilized for its optimization.