• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.6
• /
• pp.592-600
• /
• 2010

The problem of motion control for AUV (Autonomous Underwater Vehicles) is addressed. The utilization of such robotic vehicles has gained an increasing importance in many marine activities. In this paper the objective is to describe how to design and apply FGS (Fuzzy Gain Scheduling) PD (Proportional Derivative) controller for an AUV (Autonomous Underwater Vehicle) to control the yaw and depth of the vehicle by keeping the path of the navigation to a desired point, and/or changing the path according to a set point.

• 전기의세계
• /
• v.21 no.3
• /
• pp.48-52
• /
• 1972

The application of pontryagin's Maximum Principle to the optimal control eventually leads to the problem of solving the two point boundary value problem. Most of problems have been related to their own special factors, therfore it is very hard to recommend the best method of deriving their optimal solution among various methods, such as iterative Runge Kutta, analog computer, gradient method, finite difference and successive approximation by piece-wise linearization. The gradient method has been applied to the optimal control of two point boundary value problem in the power systems. The most important thing is to set up some objective function of which the initial value is the function of terminal point. The next procedure is to find out any global minimum value from the objective function which is approaching the zero by means of gradient projection. The algorithm required for this approach in the relevant differential equations by use of the Runge Kutta Method for the computation has been established. The usefulness of this approach is also verified by solving some examples in the paper.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.441-441
• /
• 2000

In wheeled mobile robot (WMR) research, point stabilization is one of the basic research issue. Point stabilization is to set mobile robot in desired position regardless of its orientation. In this paper, we propose a point stabilization scheme for car-like type WMR. We will define a new error states named as tangential error and nomal error. Then a heuristic control scheme will be suggested. The performance of these approach is verified via POSTUR-II.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.72-75
• /
• 1988

Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

• Proceedings of the SAREK Conference
• /
• 2009.06a
• /
• pp.1014-1019
• /
• 2009

The optimal control system for heat source and HVAC system has been developed for minimizing energy consumption while maintaining the comfort of indoor thermal environment in terms of the environmental variables such as time varying indoor load and outdoor temperatures. The optimal set-points of control parameters are supply air temperature and chilled or hot water temperatures. The optimal control study has been implemented for biosafety laboratory by using TRNSYS simulation program in order to investigate energy performance for heat source and HVAC system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.97.1-97
• /
• 2001

One of the main problems to constitute control method on biologically oriented wastewater purification processes, e.g. activated sludge process, sequential batch reactor, rotating bio-disk contactor, etc. is that it is hard to control the target component directly. For instance, while biochemical oxygen demand, suspended solids, and chemical oxygen demand are the key components to check the process performance, one may not control them directly since they are the results of microbial activities related to numerous physiochemical factors. Therefore controllers for bioprocess should be designed to make favorable condition for microorganisms´ living, e.g. dissolved oxygen level favorable, mixed liquor suspended solids concentration suitable ...

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.937-940
• /
• 1992

A cost-saving feeding rate contro method for a batch reaction process is proposed by reconfigurating the flow rate control loop where the feeding rate is estimated by differentiating weight measurement. While the existing control methods require either a flow rate measurement device or a flow rate estimator, the proposed method is devised not to require neither of these facilities by directly controlling the tank weight with a time-varying set point. Experimental evaluation in a pilot-scale unit shows that the proposed method can significantly reduce the actuator hunting of the existing method where the flow rate is estimated by differentiating the weight measurement.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.3
• /
• pp.755-765
• /
• 2015

A thermostatically controlled load (TCL) can be one of the most appropriate resources for demand response (DR) in a smart grid environment. DR capability can be effectively implemented in a TCL with various intelligent control methods. However, because traditional on-off control is still a commonly used method in a TCL, it is useful to develop a method for adding DR capability to the TCL with an existing on-off controller. As a specific realization of supervisory control for implementing DR capability in the TCL, two methods are proposed - a method involving the changing of a set point and a method involving the paralleling of an identified system without delay. The proposed methods are analyzed through the simulations with an electric heater for different power consumption levels in the on-state. Considerable cost benefit can be achieved with the proposed methods when compared with the case without DR. In addition, the observations suggest that a medium power consumption level, instead of the maximum power, in the on-state should be used for consistently obtaining the cost benefit without severe temperature deviation from the specified temperature range for DR.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2479-2481
• /
• 2000

It is the time-varying dissolved oxygen(DO) dynamics that requires controlling for maintaining the DO concentration in the aeration tank. Many linear controllers have thus been applied. Because of the nonlinearity of the oxygen transfer function together with the time-varying respiration rate, however, the linear controllers are found to poorly perform in many cases. To overcome this limitation, a number of advanced controlling techniques have been developed and applied. In this study, designed GA-PI Controller using genetic algorithm(GA). Genetic algorithms(GAs) are search algorithms based on the mechanics of natural selection and natural genetics. As result of computer simulation, GA-PI controller shows the better control performance especially under the condition of the continuously changing DO set-point. This result represents that GA-PI controller can be a good measure to control the DO concentration in the SBR process which requires the sequential DO set-point change to accomplish the nitrification and denitrification in a single reactor.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
• /
• v.18 no.11
• /
• pp.896-905
• /
• 2006

An optimal control of an air-conditioning system with slab thermal storage is investigated by making use of the Maximum Principle. An optimal heat input to a plenum chamber and an air-conditioned room is determined by minimizing a criterion function which is given as integral sum of two terms. The first term is the square of the deviation in the room air temperature from the set-point value, and the second is the absolute value of the heat input. The result indicates that it tries to keep a room air temperature in set-point value by heating as much as possible at the time of a setup of a room air temperature or just before that, in order to avoid a heat loss arising at the time of the non-air conditioning. The result is compared with that of the case when the square of the heat input is used as a criterion.