• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.44-47
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• 1996

Bang-bang control law provides the optimal solution for a minimum-time control problem, but ignores the intermediate path except for the initial and final points. In this paper, a near minimum-time suboptimal fuzzy logic controller is introduced that can control the intermediate path. A dynamic model for a system is established using the average dynamics method of linearization. System model is continuously updated over the control time periods. This makes it suitable for high speed or variable payload applications. Bang-bang control theory is modified and used to derive the preliminary control law. A fuzzy logic algorithm is then applied to adjust and find the best solution. The solution will provide the suboptimal minimum-time control law which can avoid obstacles in the workspace.

• Journal of Power Electronics
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• v.14 no.5
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• pp.1008-1027
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• 2014

An electric scooter with a V-belt continuously variable transmission (CVT) driven by a permanent magnet synchronous motor (PMSM) has a lot of nonlinear and time-varying characteristics, and accurate dynamic models are difficult to establish for linear controller designs. A PMSM servo-drive electric scooter controlled by a novel hybrid modified recurrent Legendre neural network (NN) control system is proposed to solve difficulties of linear controllers under the occurrence of nonlinear load disturbances and parameters variations. Firstly, the system structure of a V-belt CVT driven electric scooter using a PMSM servo drive is established. Secondly, the novel hybrid modified recurrent Legendre NN control system, which consists of an inspector control, a modified recurrent Legendre NN control with an adaptation law, and a recouped control with an estimation law, is proposed to improve its performance. Moreover, the on-line parameter tuning method of the modified recurrent Legendre NN is derived according to the Lyapunov stability theorem and the gradient descent method. Furthermore, two optimal learning rates for the modified recurrent Legendre NN are derived to speed up the parameter convergence. Finally, comparative studies are carried out to show the effectiveness of the proposed control scheme through experimental results.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.584-596
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• 2019

This paper presents a Modified Adaptive Complementary Sliding Mode Control (MACSMC) system for the longitudinal motion control of the Fully-Submerged Hydrofoil Craft (FSHC) in the presence of time varying disturbance and uncertain perturbations. The nonlinear disturbance observer is designed with less conservatism that only boundedness of the derivative of the disturbance is required. Then, a complementary sliding mode control system combined with adaptive law is designed to reduce the bound of stabilization error with fast convergence. In particularly, the modified complementary sliding mode surface which contains the estimation of the disturbance can reduce the switching gain and retain the normal performance of the system. Moreover, a hyperbolic tangent function contained in the control law is utilized to attenuate the chattering of the actuator. The global asymptotic stability of the closed-loop system is demonstrated utilizing the Lyapunov stability theory. Ultimately, the simulation results show the effectiveness of the proposed approach.

• Structural Engineering and Mechanics
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• v.19 no.5
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• pp.567-580
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• 2005

Numerous tests on concrete structure members under local pressure demonstrated that the compressive strength of concrete at the loaded surface is increased by the confinement effect provided by the enveloping concrete. Even though most design codes propose specific criteria for preventing bearing failure, they do not take into consideration size effect which is an important phenomenon in the fracture mechanics of concrete/reinforced concrete. In this paper, six series of square prism concrete blocks with three different depths (size range = 1:4) and two different height/depth ratios of 2 and 3 are tested under concentrated load. Ultimate loads obtained from the test results are analysed by means of the modified size effect law (MSEL). Then, a prediction formula, which considers effect of both depth and height on size effect, is proposed. The developed formula is compared with experimental data existing in the literature. It is concluded that the observed size effect is in good agreement with the MSEL.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.3
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• pp.235-252
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• 2015

Optimal impact angle control guidance law and its variants for intercepting a maneuvering target are introduced in this paper. The linear quadratic(LQ) optimal control theory is reviewed first to setup framework of guidance law derivation, called the sweep method. As an example, the inversely weighted time-to-go energy optimal control problem to obtain the optimal impact angle control guidance law for a fixed target is solved via the sweep method. Since this optimal guidance law is not applicable for a moving target due to the angle mismatch at the impact instant, the law is modified to three different biased proportional navigation(PN) laws: the flight path angle control law, the line-of-sight(LOS) angle control law, and the relative flight path angle control law. Effectiveness of the guidance laws are verified via numerical simulations.

• Journal of Astronomy and Space Sciences
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• v.27 no.4
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• pp.353-357
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• 2010

In general, the information of inertia properties is required to control a spacecraft. The inertia properties are changed by some activities such as consumption of propellant, deployment of solar panel, sloshing, etc. Extensive estimation methods have been investigated to obtain the precise inertia properties. The gyro-based attitude data including noise and bias needs to be compensated for improvement of attitude control accuracy. A modified estimation method based on the law of conservation of angular momentum is suggested to avoid inconvenience like filtering process for noise-effect compensation. The conventional method is modified and beforehand estimated moment of inertia is applied to improve estimation efficiency of product of inertia. The performance of the suggested method has been verified for the case of STSAT-3, Korea Science Technology Satellite.

• Journal of KIEE
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• v.11 no.1
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• pp.62-68
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• 2001

In this paper it is proposed an advanced modified sliding mode control of a rotor field oriented control of induction motor. The application of this unconventional control has very good results, such as disturbance rejection and nice dynamic properties. Stability can be guaranteed even in the worst situation. A conventional "sliding mode" controller is characterised by fast switching control signal, which causes the chattering of the drive system. To overcome this problem, a modified law is used, by introducing a hysteresis band and a continuous control, which modifies the conventional law. The control is accomplished with dual TMS320C44 floating-point digital signal processor. The validity of the proposed method was verified by experiment on the propulsion system simulator, used for the development of Korean High-Speed Railway Train(KHSRT).in(KHSRT).

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.216-224
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• 1986

This paper treats the modelling and the control of the burnthrough point control system for an industrial sintering process. First, a state-space model is derived by defining new unconventional variables. A simple control law is proposed, which consists of the modified receding horizon control law and the least-squares prediction algorithm. The stability and the tracking properties of this control law are proved. The real-time experiments are carried out in a POSCO sintering plant and satisfactory results are presented in this paper. Before the real-time experiments, computer simulations are done and their results are also given for the comparison with the real-time experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2566-2569
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• 2003

An alternative optimal control law formulation is introduced and compared with two different control law, a conventional linear quadratic regulator and the control law based on game theory. This formulation eliminates the undesired modes of the system by the projection of a controller onto the subspace orthogonal to that of the bad modes. In conventional LQR control law, the control performance can be improved only by using proper weighting matrices in performance index, normally, with high cost. The control law formulation by game theory may provide various ways to obtain the desired performance. The control law modified by the elimination of bad modes provides efficient ways to get rid of an undesired performance since it eliminates the exact modes which cause the bad control performance.

• The Korean Journal of Rheology
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• v.7 no.1
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• pp.35-41
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• 1995

층류 열전달에서 작은 Reynolds number에서의 원통내의 흐름에대한 Power law 유 체의 해법이 사용될 수가 없는 것을 낮은 전단률(Shear Rate)에서 Power Law 법칙이 적용 되지 않기 때문이다. 본 연구에서는 이문제를 새로운 구성방정식을 이용하여 높은 전단률에 서는 Power Law 법칙이 낮은 전단률에서는 Newtonian 법칙이 그 중간에서는 천이과정을 모두 포함하는 전범위의 전단률에 대해 해결하였다. 이러한 구성방정식의 기본개졈은 실험 결과와도 잘 일치하였따. 이 구성방정식을 이용하여 Graetz 문제를 해결하였고 경계조건은 일정온도와 일정열속이다. 이용하기 쉬운 전단률변수는 적용범위가 Newtonian인지 Power law 인지 아니면 중간 천이과정인지를 나타내준다.