• 로봇학회논문지
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• 제17권1호
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• pp.76-85
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• 2022

One of the most fundamental challenges when designing controllers for dynamic systems is the adjustment of controller parameters. Usually the system model is used to get the initial controller, but eventually the controller parameters must be manually adjusted in the real system to achieve the best performance. To avoid this manual tuning step, data-driven methods such as machine learning were used. Recently, reinforcement learning became one alternative of this problem to be considered as an agent learns policies in large state space with trial-and-error Markov Decision Process (MDP) which is widely used in the field of robotics. However, on initial training step, as an agent tries to explore to the new state space with random action and acts directly on the controller parameters in real systems, MDP can lead the system safety-critical system failures. Therefore, the issue of 'safe exploration' became important. In this paper we meet 'safe exploration' condition with Control Barrier Function (CBF) which converts direct constraints on the state space to the implicit constraint of the control inputs. Given an initial low-performance controller, it automatically optimizes the parameters of the control law while ensuring safety by the CBF so that the agent can learn how to predict and control unknown and often stochastic environments. Simulation results on a quadrotor UAV indicate that the proposed method can safely optimize controller parameters quickly and automatically.

• 대한기계학회논문집A
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• 제37권4호
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• pp.475-481
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• 2013

직접구동형 서보밸브의 제어시스템은 비선형적이며 밸브스풀에 미치는 유체력의 영향은 매우 크고 부하압력의 크기에 좌우된다. 제어시스템의 설계요구조건을 만족시키기 위해, 제약직접탐색방법인 유전자 알고리즘과 콤플렉스법을 적절히 활용하여 진상-지상제어기 및 미분피드백제어기의 최적 상수값을 탐색하였다. 최적 제어기 상수값을 대입하여 제어시스템을 시뮬레이션한 결과 설계요구조건을 만족하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 추계학술대회 논문집 학회본부 B
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• pp.500-502
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• 1999

This thesis deals with study and implementation of a cross-coupling controller which can enhance the path-tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV in this thesis is differential drive type and has front-side and rear-side optical sensors, which can identify the guiding path. When AGV from the path due to the inevitable error and the deviation must be corrected. It has been shown that compensation only the first term can lead to undesirable oscillatory results and even instability but compensating only the second term leads to a steady state offset error. Cross-coupling control directly minimizes the error by coordinating the motion of the two drive wheels. The cross-coupling controller is analyzed to evaluate its performance. The cross-coupling controller enhances transient performance of the controller is demonstrated by simulation and is compared with that of individual loop controller.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.285-289
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• 2013

In switching from the track-seeking or track-jumping control mode to track-following control mode in hard disk drives or optical disk drives, initial values of the feedback controller are tuned to improve the transient response. In general, all the initial values of the controller have been compensated for this purpose. In this paper, by partially compensating initial values of digital controllers, we achieve a good performance of the transient response. In the proposed method for IVC (Intial Value Compensation), LMIs (Linear Matrix Inequalities) are used, which includes conditions for improving the performance of the transient response such as reducing a tracking error and control efforts. We obtain optimal initial values of the controller by solving an optimization problem with constraints represented by only one LMI. Although initial values of the controller are partially compensated, we can show that not only a sufficient performance of the transient response is obtained but also control efforts are diminished. The feasibility of the method is verified by simulation studies.

• 대한전자공학회논문지TE
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• 제42권3호
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• pp.25-30
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• 2005

대부분의 경우, 비선형 최적 제어 문제는 헤밀톤-야코비 방정식(Hamilton-Jacobi equations)을 풀어야하는데, HJEs는 해석적으로 답을 구하기가 매우 어렵다. 그래서 이러한 어려움은 비선형 시스템에 피드백 선형화를 적용하여, 선형화된 시스템을 얻고, 선형화된 선형 시스템에 대한 최적 제어 문제를 고려하게 되었다. 본 논문에서는 간단한 비선형 시스템의 예에 최적 제어 설계 기법과 피드백 선형화 제어기, 선형 제어기를 적용하여, 최적 성능을 평가함으로서, 피드백 선형화 최적 제어가 적용되는 비선형 시스템의 조건을 제시한다.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.680-687
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• 2012

One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.704-707
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• 1997

In this paper, we present a fuzzy logic based tuner for continuous on-line tuning of PID controllers. The essential idea of the scheme is to parameterize a Ziegler-Nichols-like tuning formula by a singler parameter .alpha., then to use an on line fuzzy logic to self-tune the parameter. The adaptive scaling makes the controller robust against large variations in parametric and dynamics uncertainties in the plant model. New self-tuning controller has the ability to decide when to use PI or PID control by extracting process dynamics from relay experiments. These scheme lead to improved performance of the transient and steady state behavior of the closed loop system, including processes with nonminimum phase processes.

• Smart Structures and Systems
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• 제21권1호
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• pp.99-111
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• 2018

Wind induced large bending oscillation amplitudes in tall and slender telecommunication steel towers may lead to precocious fatigue cracks and consequent risk of collapse of these structures, many of them installed in rural areas alongside highways and in highly populated urban areas. Varying stress amplitudes at hot spots may be attenuated by means of passive control mechanical devices installed in the tower. This paper gives an account of both mathematical-numerical model and the technique applied to design and evaluate the performance of a double controller installed in existing towers which is composed by a nonlinear pendulum and a novel type of passive controller described herein as a planar motion disk mounted on shear springs. Results of experimental measurements carried out on two slender tubular steel towers under wind action demonstrate the efficiency of the double controllers in attenuating the towers bending oscillation amplitudes and consequent stress amplitudes extending the towers fatigue life.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.795-797
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• 1995

In this paper, we present a simple auto-tuning PID controller using genetic algorithms. The basic idea of the scheme is to parameterize a Ziegler-Nichols-like tuning formula by a single parameter ${\alpha}$, then to use GA to select optimal tuning parameter. Also, simple rule mechanisms make the controller adapt against large variations in parametric and dynamics uncertainties in the plant. These scheme lead to improved performance of the transient and steady state behavior of the closed loop system, including processes with long delay-time and nonminimum phase systems.

• 설비공학논문집
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• 제13권11호
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• pp.1072-1078
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• 2001

The real time optimal control algorithm of the DDC controller for chilled water and supply air temperature set-point of heating, ventilating, air-conditioning and refrigeration systems has been researched for minimization of the total power which is consumed by the chiller, chilled water pump and air handing unit fan. The study has been done by using TRNSYS program in order to analyze the central cooling system in terms of the environmental variables such as indoor cooling lead and wet-bulb temperature. This optimal control alogorithm saves more energy and is suitable for real time on-line control in comparison with conventional method.