• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• v.9 no.1
• /
• pp.285-288
• /
• 2005

Neural networks are known as kinds of intelligent strategies since they have learning capability. There are various their applications from intelligent control fields; however, their applications have limits from the point that the stability of the intelligent control systems is not usually guaranteed. In this paper we propose a neuro-adaptive controller for robot manipulators using the radial basis function network(RBFN) that is a kind of a neural network. Adaptation laws for parameters of the RBFN are developed based on the Lyapunov stability theory to guarantee the stability of the overall control scheme. Filtered tracking errors between the actual outputs and desired outputs are discussed in the sense of the uniformly ultimately boundedness(UUB). Additionally, it is also shown that the parameters of the RBFN are bounded. Experimental results for a SCARA-type robot manipulator show that the proposed neuro-adaptive controller is adaptable to the environment changes and is more robust than the conventional PID controller and the neuro-controller based on the multilayer perceptron.

• Journal of Advanced Marine Engineering and Technology
• /
• v.19 no.1
• /
• pp.60-70
• /
• 1995

In the field of marine transportation the energy saving is one of the most important factors for profit. In order to reduce the fuel oil consumption the ship's propulsion efficiency must be increased as much as possible. The propulsion efficiency depends upon a combination of an engine and a propeller. The propeller has better efficiency as lower rotational speed. This situation led the engine manufacturers to design the engine that has lower speed, longer stroke and a small number of cylinders. Consequently the variation of rotational torque became larger than before because of the longer delay-time in the fuel oil injection process and an increased output per cylinder. As this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variation of the delay-time and the parameter pertubation. In this paper we consider the delay-time and the perturbation of engine parameters as the modeling uncetainties. Next we design the controller which has zero offset in steady state engine speed, based on the two-degree-of-freedom control theory and $\mu$-synthesis. Thd validity of the controller is investigated through the response simulation. We use a personal computer and an analog computer as the digital controller and the engine (plant) part respectively. And, we certify that the designed controller maintains its performance even though the engine parameters may vary.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.10
• /
• pp.3873-3879
• /
• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.19 no.7
• /
• pp.1660-1670
• /
• 2015

Many robust controllers have been studied but most are considered in the theoretical point of view and can be used for only specific systems. So, in this paper, a more practical robust controller is proposed based on SMC(sliding mode control) and disturbance observer. The integral sliding mode is used to eliminate the reaching phase and minimizes the steady-state error, and the disturbance observer reduces the chattering due to the switching input for the bounded disturbances. The inevitable chattering of SMC is also removed by replacing the sign function with dead-zone function. The proposed controller has the improved steady-state error and robustness compared to PID controller.

• Journal of Mechanical Science and Technology
• /
• v.19 no.3
• /
• pp.778-791
• /
• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• Journal of IKEEE
• /
• v.3 no.2 s.5
• /
• pp.250-258
• /
• 1999

This paper presents a decentralized adaptive controller design for a Magnetically Levitated Fine Manipulator to follow the given trajectory as close as possible in spite of coupling effects between motion axes(degree of freedoms or subsystems). The present controller consists of two parts: the model reference controls based on known subsystems and the local adaptive controls. The former stabilizes the motion of the manipulator so as to follow that of the reference model. The latter reduces tracking errors due to coupling disturbances by adjusting the local gains to such levels that override interactions and assure the stability of the overall system. Through several experimental results, it has been shown that the decentralized adaptive control scheme has better tracking performances comparing to the PID controller case as well as good disturbance(coupling) rejection property.

• International Journal of Precision Engineering and Manufacturing
• /
• v.3 no.2
• /
• pp.87-94
• /
• 2002

This paper presents the synchronous vibration control of a rotor system using an Active Air Bearing(AAB). In order to suppress the synchronous vibration, it is necessary to actively control the air film pressure or the air film thickness. In this study, active pads are used to control the air film thickness. Active pads are supported by the pivots containing piezoelectric actuators and their radial positions can be actively controlled by applying voltage to the actuators. Disturbances and various kinds of external forces can cause the shaft vibration as well as the change of the air film thickness. The dynamic behaviors of a rotary system supported by two tilting-pad gas bearings and its active stabilization using the tilting-pads as actuators are investigated numerically. The PID controller is applied to the tilting-pad gas bearing system with three pads, two of which contain piezoelectric actuators. To test the validity of the theoretical method, the performance of this control method is evaluated through experiments. The experimental results show the effectiveness of the control system for suppressing the unbalanced response of the rigid modes.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.9
• /
• pp.60-67
• /
• 2007

A signal conditioning circuit for capacitive displacement sensors was developed using a high frequency modulation/demodulation method, and its performance was evaluated. Since capacitive displacement sensors can achieve high resolution and linearity, they have been widely used as precision sensors within the range of several hundred micrometers. However, they inherently have a limitation in low frequency range and some nonlinearity characteristics and so a specially designed signal conditioning circuit is needed to handle these properties. The developed signal processing circuit consists of three parts: linearization, modulation/demodulation, and nonlinearity compensation. Each part was constructed discretely using several IC chips and passive elements. An evaluation system for precision displacement sensors was developed using a laser interferometer, a precision stage, and a PID position controller. The signal processing circuit was tested using the evaluation system in the respect of resolution, repeatability, linearity, and so on. From the experimental results, we know that a highly linear voltage output can be obtained successfully, which is proportional to displacement and the nonlinearity of output is less than 0.02% of full range. However, in the future, further investigation is required to reduce noise level and phase delay due to a low-pass filter. The evaluation system also can be applied effectively to calibration and evaluation of precision sensors and stages.

• Journal of Positioning, Navigation, and Timing
• /
• v.2 no.1
• /
• pp.75-80
• /
• 2013

This article presents the design of long range navigation (LORAN)-disciplined oscillator (LDO), employing the timing information of the LORAN system, which was developed as a backup system that corrects the vulnerability of the global positioning system (GPS)-based timing information utilization. The LDO designed on the basis of hardware generates a timing source synchronized with reference to the timing information of the LORAN-C receiver. As for the LDO-based timing information measurement, the Kalman filter was applied to estimate the measurement of which variance was minimized so that the stability performance could be improved. The oven-controlled crystal oscillator (OCXO) was employed as the local oscillator of the LDO. The controller was operated by digital proportional-integral-derivative (PID) controlling method. The LDO performance evaluation environment that takes into account the additional secondary factor (ASF) of the LORAN signals allows for the relative ASF observation and data collection using the coordinated universal time (UTC). The collected observation data are used to analyze the effect of ASF on propagation delay. The LDO stability performance was presented by the results of the LDO frequency measurements from which the ASF was excluded.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1796-1799
• /
• 1997

This thersis presents precise position control emthods of a 3-PRPS in-parallel manipulator for industrial applications such as assembly of highly integrated semiconductors and microsurgery. Since real-time ontrol is one of the most important issues required for industrial application, the experimental hardware is set up with a VME based DSP controller. In the 3-PRPS parallel mainpulator, structurally existing frictiion at three horizontal links considerably degrades the precise position control. In order to compensate the friction of the horizontal links in the joint space, a disturbance compensation usign disturbance and velocity observers has been proposed and investigated. We analyzed the decision method of eigenvalues of the disturbance observer and the effects of the control resulted form tehsystem model errors. Through a series of simulations and experiments, we see that the methods is capable of compensating variations of the robot parameters such as inertia and damping as well as the joint friction. Experiments show that the disturbance compensation method usign disturbance and velocity observer is very effective to compensate the friction. Compared with conventional PID position control, it decreased position errors ina circular motion by approximately 70%.