• Journal of Advanced Navigation Technology
• /
• v.16 no.4
• /
• pp.586-592
• /
• 2012

One approach of the control of a nonlinear system that has gained some success employs a fuzzy structure in cooperation with a neural network(ANFIS). The traditional ANFIS can only model and control the process in single-dimensional output nature in spite of multi-dimensional input. The membership function parameters are tuned using a combination of least squares estimation and back-propagation algorithm. In the case of a mobile robot, we need to drive left and right wheel respectively. In this paper, we proposed the control system architecture for a mobile robotic system that employs the 2-input 2-output ANFIS controller for trajectory tracking. Simulation results and preliminary evaluation show that the proposed architecture is a feasible one for mobile robotic systems.

• Journal of the Institute of Convergence Signal Processing
• /
• v.8 no.3
• /
• pp.217-221
• /
• 2007

This paper deals with the robust nonlinear controller design using output feedback for a Chua circuit which is one of the well-known nonlinear models. First, an exosystem for reference signal tracking is defined, and error dynamic equations are derived from the differentiation of the output tracking error equation. The normal sliding surface is modified using the integral type servo compensator. The parameters in the equations of the modified sliding surface and servo compensator are determined by using the Hurwitz condition of stability. Especially the error signals can't be obtained directly from the output because all parameters are assumed unknown. So instead, a high gain observer is designed. From this estimated error signals, a stabilizing controller is designed. Simulation is done for demonstrating the effectiveness of the suggested algorithm.

• Journal of Advanced Marine Engineering and Technology
• /
• v.19 no.3
• /
• pp.77-83
• /
• 1995

Recently, in the field of industrial servo-systems, several methods have been proposed for tracking the reference input fastly and finely without overshoot. These methods, however, are established under hypothesis that structure and parameters of the plant are known accurately and they are time invariant. In practice, it is difficult to obtain the values of plant's parameters accurately and usually plants change with time and operation conditions. In this paper a method to construct the nominal model tracking adaptive control system is proposed. The system is composed of the nomial model which produces a ideal response and the model tracking system with the fuzzy adaptive controller. If the actual plant is equal to the controlled object in the nominal model, the output of the plant is the same as that of the nominal model and the fuzzy adaptive controller becomes idle. However, when the plant changes, the fuzzy adaptive controller of the tracking system operates in order for the output of the plant to track the ideal response. Through the computer simulations under various conditions, it is confirmed that the proposed model tracking system is very effective.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.27 no.5
• /
• pp.67-73
• /
• 2013

The conversion of solar radiation into electrical energy by Photo-Voltaic (PV) effect is a very promising technology, being clean, silent and reliable, with very small maintenance costs and small ecological impact. The output power produced by the PV panels depends strongly on the incident light radiation. The continuous modification of the sun-earth relative position determines a continuously changing of incident radiation on a fixed PV panel. The point of maximum received energy is reached when the direction of solar radiation is perpendicular on the panel surface. Thus an increase of the output energy of a given PV panel can be obtained by mounting the panel on a solar tracking device that follows the sun trajectory. Tracking systems that have two axes and follow the sun closely at all times during the day are currently the most popular. This paper presents research conducted into the performance of Solar tracking system with photosensors. The results show that an optimized dual-axis tracking system with photosensor performance and analysis. From the obtained results, it is seen that the sun tracking system improves the energy and energy efficiency of the PV panel.ti-junction CPV module promises to accelerate growth in photovoltaic power generation.

• Journal of the Optical Society of Korea
• /
• v.3 no.2
• /
• pp.80-85
• /
• 1999

We propose and demonstrate a new scheme for suppression of output distortion in an open-loop gyroscope employing an erbium-doped fiber amplifier/source (FAS). In addition to the main modulation for the rotation rate measurement, a small auxiliary modulation at a different frequency is used to extract an error signal, which is necessary for keeping the quasi-dc component of the feedback signal power at a constant level for varying rotation rate. By active tracking of the optimum modulation condition using this two-frequency modulation scheme, we obtain stable gyro output with suppressed distortion as well as stable FAS characteristics. We also calculate the distortion in the gyro response due to the feedback effect, from which we estimate the FAS gyro output distortion due to the residual ac feedback effect when the dc feedback effect is removed by the proposed scheme. The measured residual deviation agrees reasonably with the estimation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.138-143
• /
• 1993

A well-defined relative degree, which is one of the basic assumptions in adaptive control or nonlinear synthesis problems, is addressed. It is shown that this is essentially a necessary condition for asymptotic tracking in discrete-time nonlinear systems. To show this, tracking problems are defined, and a local linear input-output behavior of a discrete-time system is introduced in relation to a well-defined relative degree. It is then shown that if a plant is invertible and accessible from the origin and a compensator solves the local asymptotic tracking problem, then the plant necessarily has a well-defined relative degree at the origin.

• Proceedings of the KIEE Conference
• /
• 2005.07a
• /
• pp.84-86
• /
• 2005

Adaptive tracking, disturbance rejection and power system stabilizer. First, this paper deals with power system stabilization problem using asymptotic tracking of arbitrary smooth bounded reference output signals, with simultaneous rejection of disturbances generated by an unknown linear exosystem. Second, this paper presents a power system stabilizer(PSS) using nonlinear adaptive observer backstepping controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.286-289
• /
• 1996

Two servo control algorithms are suggested to reduce the tracking error of a computer hard disk drive. One is the repetitive control to reduce the repeatable tracking error which is not explicitly taken into account in the design of a conventional controller. This algorithm was successfully applied to a commercial disk using a fixed point DSP. The other is the multi-rate sampling control which generates the control output between each sampling times since the sampling time of hard disk drives is limited. These algorithms were shown effectively to reduce tracking errors.

• Journal of the Korean Solar Energy Society
• /
• v.32 no.6
• /
• pp.29-36
• /
• 2012

The existing solar tracking sensor for 2 axial control system to trace latitude and longitude is made of four phototransistor. The phototransistor-making is difficult and it's manufacturing is more high-priced than a wide use phototransistor because they have to the same characteristics of each phototransistor output signal. This paper described the algorithm for supplement these weakness. The algorithm applied to signal normalizing method and vector decomposition law. The deviations of each a wide use phototransistor output signal are resolved by signal normalizing method and it is able to make a solar tracking sensor using three phototransistor by vector decomposition law. Therefore, in this paper, it is reduced the number of phototransistor that is composed of solar tracking sensor and possible to use a wide use phototransistor by the proposed algorithm.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.28 no.2
• /
• pp.9-18
• /
• 2014

This paper proposes the fuzzy PI controller for maximum power point tracking(MPPT) control of photovoltaic system. The output characteristics of the solar cell are a nonlinear and affected by a temperature, the solar radiation. The MPPT control is a very important technique in order to increase an output and efficiency of the photovoltaic system. The conventional perturbation and observation(PO) and incremental conductance(IC) are the method which finding maximum power point(MPP) by the continued self-excitation vibration, and uses the fixed step size. If the fixed step size is a large, the tracking speed of maximum power point is faster, but the tracking accuracy in the steady state is decreased. On the contrary, when the fixed step size is a small, the tracking accuracy is increased and the tracking speed is slower. Therefore, this paper proposes the MPPT control using the fuzzy PI controller that can be improve a MPPT control performance. The fuzzy PI controller is adjusted a input of PI controller by fuzzy control and compensated a cumulative error of fuzzy control by PI controller. The fuzzy PI MPPT control is compared to conventional PO and IC MPPT method for various temperature and radiation condition. This paper proves the validity of the fuzzy PI controller using these results.