• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.220-222
• /
• 2006

This paper presents intelligent digital redesign method of global approach for hybrid state space fuzzy-model-based controllers. For effectiveness and stabilization of continuous-time uncertain nonlinear systems under discrete-time controller, Takagi-Sugeno(TS) fuzzy model is used to represent the complex system. And global approach design problems viewed as a convex optimization problem that we minimize the error of the norm bounds between nonlinearly interpolated lineal operators to be matched. Also, by using the bilinear and inverse bilinear approximation method, we analyzed nonlinear system's uncertain parts more precisely. When a sampling period is sufficiently small, the conversion of a continuous-time structured uncertain nonlinear system to an equivalent discrete-time system have proper reason. Sufficiently conditions for the global state-matching of the digitally controlled system are formulated in terms of linear matrix inequalities (LMIs). Finally, a T-S fuzzy model for the chaotic Lorentz system is used as an example to guarantee the stability and effectiveness of the proposed method.

• Proceedings of the KIEE Conference
• /
• 2006.10c
• /
• pp.133-135
• /
• 2006

This paper considers a speed control problem of DC motor under load variations. In order to reduce the effect of load variation, a disturbance observer has been designed for the given system. With a cheap encoder there exists considerable measurement noise in the velocity feedback and it should be reflected in designing the disturbance observer. The authors have obtained the nominal transfer function of a DC motor and designed a disturbance observer for the control purpose. With the disturbance observer a digital controller has been implemented using a DSP(TMS320F2812). Some experiments show the enhanced performance of the control system with the proposed method.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.11
• /
• pp.955-962
• /
• 2000

Although large space structures(LSS) such as a space station, a solar power station satellite, etc., are theoretically distributed parameter and infinite-dimensional systems, they have to be modeled into a lumped parameter and large finite-dimensional system for control system design. Besides, there remains the fundamental problem that the modeled large finite-dimensional system must be controled with a much smaller dimensional controller due to the limitation of computing resources. This causes the spillover phenomenon which degrades control performances and reduces the stability margin. Furthermore, it may destabilize the entire feedback control system. In this paper, we propose a novel spillover suppression method in the active vibration control of large flexible structures by using eigenstructure assignment. Its validity and effectiveness are investigated and verified by the numerical experiments using a simply supported flexible beam, which is modeled to have four controlled modes and eight uncontrolled modes.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1293-1298
• /
• 2005

In the environment where human coexists with robot, the problem of safety is very important. But it is difficult to separate the robot from the human in time-domain or space-domain unlike the case of factory automation, so a new concept is needed. One approach is to notice sensory and emotional feeling of human, and in this study "pain" is focused, which is a typical unpleasant feeling when the robot contacts us. In this paper, to design the controller based on the pain, an artificial superficial pain model caused by impact is proposed. This ASPM model consists of mechanical pain model, skin model and gate control by artificial neural networks (ANNs). The proposed ASPM is evaluated by experiments.

• 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.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.8
• /
• pp.842-847
• /
• 2008

This paper proposes a new sliding-surface-based tracking control system for nonholonomic mobile robots with disturbance. To design a robust controller, we consider the kinematic model and the dynamic model of mobile robots with disturbance. We also propose a new sliding surface to solve the problem of previous study. That is, since the new sliding surface is composed of differentiable functions unlike the previous study, we can obtain the control law for arbitrary trajectories without any constraints. From the Lyapunov stability theory, we prove that the position tracking errors and the heading direction error converge to zero. Finally, we perform the computer simulations to demonstrate the performance of the proposed control system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2004.10a
• /
• pp.67-70
• /
• 2004

Semiconductor Wet Station has a very important place in semiconductor process. It is important that to discharge chemical with fit concentration and temperature using chemical supply system for clean process. The chemical supply system which is used currently is not only difficult to make a fit mixing rate of chemical which is need in clean' process, but also difficult to make fit concentration and temperature. Moreover, it has high stability but it is inefficient spatially because its volume is great. We propose In-line System to improve system with implement analysis of fluid and thermal transfer on chemical supply system and understand problem of system.

• The Transactions of the Korean Institute of Electrical Engineers A
• /
• v.48 no.6
• /
• pp.753-759
• /
• 1999

BPF(block pulse function) has been used widely in the system analysis and controller design. The integral operational matrix of BPF converts the system represented in the form of the differential equation into the algebraic problem. Therefore, it is important to reduce the error caused by the integral operational matrix. In this paper, a new integral operational matrix is derived from the approximating function using Lagrange's interpolation formula. Comparing the proposed integral operational matrix with another, the result by proposed matrix is closer to the real value than that by the conventional matrix. The usefulness of th proposed method is also verified by numerical examples.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.55 no.12
• /
• pp.518-525
• /
• 2006

This paper presents the adaptive robust control method for the flight control systems with model uncertainties. The proposed control system can be composed simply by a combination of the adaptive dynamic surface control (DSC) technique and the self recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides us with the ability to overcome the 'explosion of complexity' problem of the backstepping controller. The SRWNNs are used to observe the arbitrary model uncertainties of flight systems, and all their weights are trained on-line. From the Lyapunov stability analysis, their adaptation laws are induced and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a high performance aircraft (F-16) are utilized to validate the good tracking performance and robustness of the proposed control system.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.54 no.4
• /
• pp.179-184
• /
• 2005

This paper examines the application of high voltage static var compensator(SVC) with cascade multilevel inverter which employs H-bridge inverter(HBI). A new switching scheme is developed for the SVC system. To improve the unbalanced problem of the DC capacitor voltages, the rotated switching scheme of fundamental frequency is newly used. The optimized fundamental switching pattern with low switching frequency is adapted to be suitable for high application. The selective harmonic elimination method(SHEM) allows to keep the total harmonic distortion(THD) low in the output voltage of multilevel inverter. The SVC system is modeled using the d-q transform which calculates the instantaneous reactive power. This model is used to design a controller and analyze the SVC system. Simulated and experimental results are also presented and discussed to validate the proposed schemes.