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

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.3
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• pp.51-55
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• 2006

An adaptive tracking controller is presented for the vibration reduction of flexible manipulator employed in hazardous area by combining input shaping technique with sliding-mode control. The combined approach appears to be robust in the presence of severe disturbance and unknown parameter which will be estimated by least-square method in real time. In a maneuver strategy, it is found that a hybrid trajectory with a combination of low frequency mode and rigid-body mode results in better performance and is more efficient than the traditional rigid body trajectory alone which many researchers have employed. The feasibility of the adaptive tracking control approach is demonstrated by applying it to the simplified model of robot system. For the applications of the proposed technique to realistic systems, several requirements are discussed such as control stability and large system order resulted from finite element modeling.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.179-181
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• 1987

In this paper, a self-tuning controller design is proposed by using pole-zero placement method and considering a system time delay. To got better tracking for the generalized self-tuning controller, pole placement method for the closed loop system and zero placement method for the error transfer function are Introduced. The proposed method shows better efficiency than pole placement method for minimizing tracking error. Simulation gives good results in tie reference signal tracking.

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

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.9
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• pp.74-82
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• 2013

This paper presents a novel maximum power point tracking for a photovoltaic power (PV) system with a direct control plan. Maximum power point tracking (MPPT) must usually be integrated with photovoltaic (PV) power systems so that the photovoltaic arrays are able to deliver maximum available power. The maximum available power is tracked using specialized algorithms such as Perturb and Observe (P&O) and incremental Conductance (indCond) methods. The proposed method has the direct control of the MPPT algorithm to change the duty cycle of a dc-dc converter. The main difference of the proposed system to existing MPPT systems includes elimination of the proportional-integral control loop and investigation of the effect of simplifying the control circuit. The proposed method thus has not only faster dynamic performance but also high tracking accuracy. Without a conventional controller, this method can control the dc-dc converter. A simulation model and the direct control of MPPT algorithm for the PV power system are developed by Matlab/Simulink, SimPowerSystems and Matlab/Stateflow.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1846-1847
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• 2011

In this paper, for the trajectory tracking control of mobile robot, firstly, we obtained the T-S fuzzy models from the tracking-error models, one of which has nonlinear form and the other is linearized around the reference trajectory. Then the tracking control inputs are designed using the proposed fuzzy linearization method and the existed PDC method. Lastly, the tracking performance is tested and compared for each model through simulation.

• International Journal of Control, Automation, and Systems
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• v.5 no.2
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• pp.200-207
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• 2007

The passive direction finding cross localization method is widely adopted in passive tracking, therefore there will exist masses of false intersection points. Eliminating these false intersection points correctly and quickly is a key technique in passive localization. A new method is proposed for passive locating and tracking multi-jammer target in this paper. It not only solves the difficulty of determining the number of targets when masses of false intersection points existing, but also solves the initialization problem of elastic network. Thus this method solves the problem of multi-jammer target correlation and the elimination of static false intersection points. The method which dynamically establishes multiple hypothesis trajectory trees solves the problem of eliminating the remaining false intersection points. Simulation results show that computational burden of the method is lower, the elastic network can more quickly find all or most of the targets and have a more probability of locking the real targets. This method can eliminate more false intersection points.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.101-105
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• 2006

Disk radial runout creates a periodic relative motion between the laser beam spot and tracks formed on an optical disk. While only focus control is activated, the periodic relative motion yields sinusoid-like waves in the tracking error signal, where one cycle of the sinusoid-like waves corresponds to one track. The frequency of the sinusoid-like waves varies depending on the disk rotational speed and the amount of the disk radial runout. If the frequency of the tracking error signal in the off-track state is too high due to large radial runout of the disk, it is not a simple matter to begin track-following control stably. It might take a long time to reach a steady state or tracking control might fail to reach a stable steady state in the worst case. This article proposes a simple method for reducing the relative motion caused by the disk radial runout in the off-track state. The relative motion in the off-track state is effectively reduced by a drive input obtained through measurements of the tracking error signal and simple calculations based on the measurements, which helps reduce the transient response time of the track-following control. The validity of the proposed method is verified through an experiment using an optical disk drive.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.126-130
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• 2001

In this paper, we propose the design methodology of target tracking system using fuzzy basis function expansion (FBFE) based on virus evolutionary genetic algorithm(VEGA). In general, the objective of target tracking is to estimate the future trajectory of the target based on the past position of the target obtained from the sensor. In the conventional and mathematical nonlinear filtering method such as extended Kalman filter (EKF), the performance of the system may be deteriorated in highly nonlinear situation. To resolve these problems of nonlinear filtering technique, by appling artificial intelligent technique to the tracking control of moving targets, we combine the advantages of both traditional and intelligent control technique. In the proposed method, after composing training datum from the parameters of extended Kalman filter, by combining FBFE, which has the strong ability for the approximation, with VEGA, which prevent GA from converging prematurely in the case of lack of genetic diversity of population, and by identifying the parameters and rule numbers of fuzzy basis function simultaneously, we can reduce the tracking error of EKF. Finally, the proposed method is applied to three dimensional tracking problem, and the simulation results shows that the tracking performance is improved by the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.237-242
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• 2015

This paper presents a method to enhance tracking performance of an input-constrained bilinear system using MPC (Model Predictive Control) when a feasible tracking control is known. Since the error dynamics induced by the known tracking control is asymptotically stable, there exists a Lyapunov function for the stable error dynamics. By defining a cost function including the Lyapunov function and describing tracking performance, an MPC law is derived. In simulation, the performance of the proposed MPC law is demonstrated by applying it to a converter model.