• International Journal of Automotive Technology
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• v.5 no.2
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• pp.135-144
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• 2004

In this paper, the model-matching control in the longitudinal autonomous driving system is investigated by vehicle dynamics simulation, which contains nonlinear subcomponents and simplified subcomponents. The design of the robust model-matching controller is performed by the characteristics of the 2 degrees of freedom controller, which is composed of the feedforward compensator and the feedback compensator. It makes the characteristics of tractive and brake force to be equivalent to the specific transfer function, which is suggested as the reference model. Mathematical models of vehicle dynamic analysis including the model-matching control are constructed for computer simulation. Then, simple examples on open-loop simulation without any controller and closed loop simulation with the model-matching controller are applied to check the validity of the robust controller. As the practical example, the autonomous driving system in the longitudinal direction is adopted. It is proved that the model-matching control is effective and adequate to the disturbances and the perturbations, which are shown in the responses of the change of a vehicle mass and a road gradient.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2589-2592
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• 2003

In this paper, a robust mixed H$_2$/H$\_$$\infty$/ output feedback control method is applied to the design of loop filter for PLL carrier phase tracking. The proposed method successfully copes with large S-curve slope uncertainty and a significant decision delay in the closed-loop that may exist In modern receivers due to a convolutional decoder or an equalizer. The objective is to design an output feedback controller which minimizes the H$_2$performance while satisfying the H$\_$$\infty$/ performance to guarantee the gain margin and phase margin for linear time invariant(LTI) polytopic uncertain systems. LMIs based approach is given to solve this problem. We can verify the H$\_$$\infty$/ performance satisfaction and minimize the phase detector error through the simulation result.

• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.134-137
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• 2002

This paper presents a robot manipulator kinematic motion control scheme based on velocity feedback loop. The desired joint velocity is obtained by the feature-based visual servoing and is used in the joint velocity control loop system for trajectory control of the robot manipulator. The asymptotic stability of the closed loop system is shown by the Lyapunov method. Effectiveness of the proposed method is shown by simulation and experimental results on a robot manipulator with two degree of freedom.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.139-145
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• 2004

This paper presents human-in-the-loop evaluations of vehicle stability control(VSC) system using a driving simulator. A driving simulator which contains full vehicle nonlinear model is evaluated by using actual vehicle test data on the same driving conditions. Braking control inputs for Vehicle Stability Control system have been directly derived from the sliding control law based on vehicle planar motion equations with differential braking. Closed-loop simulation results at realistic driving situations have shown that the proposed controller reduces driving effort of a driver and enhances stability of a vehicle.

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.596-606
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• 2008

In this paper, we present a co-design methodology of dynamic optimal network-bandwidth allocation (ONBA) and adaptive control for networked control systems (NCSs) to optimize overall control performance and reduce total network-bandwidth usage. The proposed dynamic co-design strategy integrates adaptive feedback control with real-time scheduling. As part of this co-design methodology, a "closed-loop" ONBA algorithm for NCSs with communication constraints is presented. Network-bandwidth is dynamically assigned to each control loop according to the quality of performance (QoP) information of each control loop. As another part of the co-design methodology, a network quality of service (QoS)-adaptive control design approach is also presented. The idea is based on calculating new control values with reference to the network QoS parameters such as time delays and packet losses measured online. Simulation results show that this co-design approach significantly improves overall control performance and utilizes less bandwidth compared to static strategies.

• Korean Journal of Computational Design and Engineering
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• v.22 no.1
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• pp.1-9
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• 2017

This research develops dispatching rule for a wafer FABs with dedication constraints. Dedication, mostly considered in a photolithography step, is a feature in a modern FABs in order to increase the yield of machines and achieve the advance of manufacturing technology. However, the dedication has the critical problem because it causes dedication load of machines to unbalance. In this paper, we proposes the dedication load based dispatching rule for load balancing in order to resolve the problem. The objective of this paper is to balance dedication load of photo machines in wafer FABs with dedication constraint. Simulation experiments show that the proposed rule improves the performance of wafer FABs as well as load balance for dedication machines compared to open-loop control based conventional dispatching rule.

• Journal of Electrical Engineering and Technology
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• v.7 no.2
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• pp.273-280
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• 2012

Most variable speed wind turbines have pitch control mechanisms and one of their objectives is to protect turbines when the wind speed is too high. By adjusting pitch angles of wind turbine, the inlet power and the torque developed by the turbine are regulated. In this paper, the difference between the real wind speed and its rated value is regarded as a disturbance, and a component called disturbance observer (DOB) is added to the pre-designed control loop. The additional DOB based controller estimates the disturbance and generates a compensating signal to suppress the effect of disturbance on the system. As a result, the stability and the performance of the closed loop system guaranteed by an outer-loop controller (designed for a nominal system without taking into account of disturbances) are approximately recovered in the steady state. Simulation results are presented to verify the performance of the proposed control scheme.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.97-104
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• 2003

This paper proposes a new parallel manipulator fur plane motion, and then discusses on the workspace and kinematical characteristics of the manipulator. The conventional planar parallel manipulators have some disadvantages which are complex non-closed type direct kinematics, workspaces containing useless voids, and concave type border tines of workspaces. The proposed planar parallel manipulator overcomes the above disadvantages, that is, the manipulator has simple closed type direct kinematics, a void-free workspace, and a convex type borderline of a workspace. This paper shows the simulation result of the workspace as well as performances indices using a homogeneous inverse Jacobian.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.35 no.4A
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• pp.322-331
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• 2010

This paper introduces a new efficient design scheme for spatial multiplexing (SM) systems over closed loop multiple-input multiple-output (MIMO) wireless channels. Extending the orthogonalized spatial multiplexing (OSM) scheme which was developed recently for transmitting two data streams, we propose a new SM scheme where a larger number of data streams can be supported. To achieve this goal, we partition the data streams into several subblocks and execute the block-diagonalization process at the receiver. The proposed scheme still guarantees single-symbol maximum likelihood (ML) detection with small feedback information. Simulation results verify that the proposed scheme achieves a huge performance gain at a bit error rate (BER) of $10^{-4}$ over conventional closed-loop schemes based on minimum mean-square error (MSE) or bit error rate (BER) criterion. We also show that an additional 2.5dB gain can be obtained by optimizing the group selection with extra feedback information.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.11B
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• pp.1522-1533
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• 2001

In this paper, we handle the estimation method of the received $E_{b}l1_{o}$ for forward closed-loop power control in cdma2000 systems. The estimation of MS-received $E_{b}l1_{o}$ utilizes the symbols related to the forward power control subchannel transmission. The estimation of the received bit energy and noise variance is analyzed for the frequency-selective Rayleigh fading channel. In order to improve SIR (signal-to-interference), the estimation of the received bit energy is made by the coherent combining of the rake-fingers and received I/Q symbols. And, in this paper, we evaluate the performance of forward closed-loop power control according to the mobile speed and the power adjustment step size in terms of the bit error rate (BER) and power control error. Simulation results present the optimal power adjustment step sizes according to the mobile speeds.