• 한국정밀공학회지
• /
• 제29권9호
• /
• pp.986-994
• /
• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Journal of Mechanical Science and Technology
• /
• 제17권3호
• /
• pp.329-335
• /
• 2003

EALQR (Linear Quadratic Regulate. design with Eigenstructure Assignment capability) has the capability of exact assignment of eigenstructure with the guaranteed margins of the LQR for MIMO (Multi-Input Multi-Output) systems. However, EALQR undergoes a restriction on the state-weighting matrix Q in LQR to be indefinite with respect to the region of allowable closedloop eigenvalues. The definiteness of the weighting matrix is closely related to the robustness property of a given system. In this paper, we derive a relation between the indefinite weighting matrix Q and the robustness property for EALQR. The modified frequency domain inequality, that could be guaranteed by EQLQR with an indefinite weighting matrix, is presented.

• Structural Engineering and Mechanics
• /
• 제1권1호
• /
• pp.119-135
• /
• 1993

The paper presents a generalized optimal active control algorithm for earthquake-resistant structures. The study included the weighting matrix configuration, stability, and time-delays for achieving control effectiveness and optimum solution. The sensitivity of various time-delays in the optimal solution is investigated for which the stability regions are determined. A simplified method for reducing the influence of time-delay on dynamic response is proposed. Numerical examples illustrate that the proposed optimal control algorithm is advantageous over others currently in vogue. Its feedback control law is independent of the time increment, and its weighting matrix can be flexibly selected and adjusted at any time during the operation of the control system. The examples also show that the weighting matrix based on pole placement approach is superior to other weighting matrix configurations for its self-adjustable control effectiveness. Using the time-delay correction method can significantly reduce the influence of time-delays on both structural response and required control force.

• 한국생산제조학회지
• /
• 제26권1호
• /
• pp.50-58
• /
• 2017

This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.

• Journal of Electrical Engineering and Technology
• /
• 제10권1호
• /
• pp.227-242
• /
• 2015

This paper proposes a weighting factor optimization method in predictive control algorithm for torque ripple reduction in an induction motor fed by an indirect matrix converter (IMC). In this paper, the torque ripple behavior is analyzed to validate the proposed weighting factor optimization method in the predictive control platform and shows the effectiveness of the system. Therefore, an optimization method is adopted here to calculate the optimum weighting factor corresponds to minimum torque ripple and is compared with the results of conventional weighting factor based predictive control algorithm. The predictive control algorithm selects the optimum switching state that minimizes a cost function based on optimized weighting factor to actuate the indirect matrix converter. The conventional and introduced weighting factor optimization method in predictive control algorithm are validated through simulations and experimental validation in DS1104 R&D controller platform and show the potential control, tracking of variables with their respective references and consequently reduces the torque ripple.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2004-2009
• /
• 2003

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method finding the Q weighting matrix is shown. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the result of the simulation shows that the proposed algorithm is very effective for a robust control of robotic systems.

• 대한전자공학회논문지
• /
• 제22권3호
• /
• pp.91-94
• /
• 1985

A method optimizing selection of a state weighting matrix is presented. The state weight-ing matrix is chosen so that the closed-loop system responses closely match to the ideal model responses. An algorithm is presented which determines a positive semidefinite state weighting matrix in the linear quadratic optimal control design problem and an numerical example is given to show the effect of the present algorithm.

• 한국농공학회논문집
• /
• 제50권3호
• /
• pp.91-104
• /
• 2008

This study developed the WSM (weighted scenario method)-AHP method that can optimize the weighting value for multi-criteria to make GIS grid-based potential surface. The potential surface has been used to simulate urban expansion using distributed cellular automata model and to generate land-use planning as basic data. This study formulated the WSM-AHP method in mathematically and applied to test region, Suwon city, which located on south area from Seoul. WSM-AHP method generates potential map for each pair of weighting value for all criteria, which one criterion is weighted with high weighting value and the others use low weighting value, considering that the summation for all criteria weighting values should be "1". The potential change rate to the step of weighted scenario for weighting value of criteria is standardized like AHP intensity matrix in this study. From the standard potential change rate, WSM-AHP intensity matrix is completed, and then the optimal weighting value is calculated from the maximum eigenvector of the WSM-AHP matrix, according to the new WSM-AHP method developed in this study. The applied results of new method showed that the optimal weighting value from WSM-AHP is more resonable than the general AHP specialists' evaluation for weighting value. The another new finding of this study is to suggest the deterministic approach to optimize the weighting value for the distributed CA model, which is used to find new city area and to generate rational land-use planning.

• 한국통신학회논문지
• /
• 제36권8A호
• /
• pp.741-747
• /
• 2011

잘 알려진 매트릭스 팬슬 방법은 정적이지 않은 환경 및 주파수가 같은 다중경로 신호가 존재 할때도 동작하는 입사각 추정방식이다. 매트릭스 팬슬방식은 기존의 공분산행렬을 사용한 방식보다 더 좋은 분해능을 보여 줄뿐 아니라 계산량의 측면에서도 매우 효과적이다. 본 논문에서는 매트릭스 팬슬 방식의 계산 과정에서 발생되는 데이터의 가중치가 균형이 맞지 않음으로써 생기는 영향에 관해 기술한다. 데이터의 균형이 맞는 새로운 방식의 매트릭스 팬슬 방식을 제안하고 데이터의 불균형을 해소할 수 있음을 보여주었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1326-1329
• /
• 1997

In designing the controller by changing the weighting matrix for the pirpose of satisfying constraints, the physical meaning of weighting matrix may disapperar and the system may not yield best performance because operation condition such as periodic disturbance was not considered. In this paper, the weighting matrix is fixed and controller is designed to minimize the new performance index to reduce the effects of periodic-type disturbances. This method is applied to design the satellite controller to verify the effetiveness.