• 한국항행학회논문지
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• 제24권6호
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• pp.549-556
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• 2020

이 논문에서는 마코프 프로세스로 모델링되는 전송 오류나 전송 지연이 있는 네트워크 제어 시스템을 위한 제어기 설계 방법들을 제안한다. 마코프 지연을 갖는 제어 시스템을 위한 안정화 조건을 지연 의존적인 리아프노프-크라소프스키 범함수가 증가된 제어 시스템의 리아프노프 함수와 동일한 형태를 갖는다는 점을 이용하여 찾는다. 유도된 안정화 조건으로부터 복잡도를 줄이기 위한 수 개의 제어 설계기 방법을 제안한다. 모의 실험을 통하여 제안된 방법 중 행렬 변수의 탐색 공간을 블록 대각 행렬로 제한하는 제한 부분 공간 방법이 성능과 복잡도 사이에서 가장 좋은 트레이드오프를 제공함을 확인되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.540-545
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• 2004

This article describes the time delay control of the 3-dimensional motion of the container cranes used in dockside container terminals. The container is suspended by four flexible cables via spreader, and due to the disturbances such as the wind and acceleration of cranes, the container undergoes translational(sway) and rotational position errors. And due to the uncertainty of weight and rotational inertia, accurate position control of container crane is difficult to realize. This paper, based on the analysis of 3-dimensional dynamics of container moving systems, develops time delay control algorithm [1]. The developed control algorithm is shown effective in controlling the container position in the presence of gust and parameter uncertainties.

• 제어로봇시스템학회논문지
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• 제9권3호
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• pp.196-203
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• 2003

Recent increase in accessibility to the internet makes it easy to use the internet-connected devices. The internet could allow any user can reach and command any device that is connected to the network. But these teleoperation systems using the internet connected device have several problems such as the network time delay, data loss and development cost of an application for the communication with each other. One feasible solution is to use local and external network line for the network time delay, transmission control protocol for data loss and Java language to reduce the development period and cost. In this study, web-based remote control system using Java language is newly proposed and implemented to a pneumatic servo control system to solve the time delay, data loss and development cost. We have conducted several experiments using pneumatic rodless cylinder through the internet and verified that the proposed remote control system was very effective.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.501-501
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• 2000

In this paper, the theoretical development to stabilize a class of uncertain time-delay systems via sliding mode control is presented. The system under consideration is described in state space model containing state delay, uncertain parameters and disturbance. The main idea is to reduce the state of delayed system, by employing the generalize linear transformation, into an equivalent one with no delay inside, which is easier to analyze its behavior and stability. Then, the sliding control approach is employed to find the stabilizing control law. Finally, a numerical simulation is illustrated to show the algorithm for applying the proposed theorems and the efffetiveness of the designed control law in stabilizing the controlled systems.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2089-2092
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• 2002

The PID controller have the simple structure and show the comparatively good control performance. Crystal Grower(FF-CZ150) melt polycrystalline silicon at the temperature of about 1450$^{\circ}C$, then grow it into a single crystalline ingot. The automatic diameter control system of the Crystal Grower has a good performance with only PD control. But it contain the integrator in the plant which has a long time delay. In this paper, we show the secondary approximate model and applies time delay controller which has good performance for the plant with long time delay. It will be able to improve the response characteristic against a standard input and a load disturbance.

• 드라이브 ㆍ 컨트롤
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• 제15권3호
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• 한국산업융합학회 논문집
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• 제20권3호
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• pp.205-212
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• 2017

This paper focuses on worst-case delay analysis of the time-triggered IEEE 802.15.4 protocol to satisfy the industrial quality-of-service (QoS) performance. The IEEE 802.15.4 protocol is considered to be unsuitable for industrial networks because its medium access control method is contention-based CSMA/CA, which exhibits unstable performance with an unbounded delay distribution under heavy traffic. To avoid these limitations, this paper presents a time-triggered version of the nonbeacon-enabled network of IEEE 802.15.4 that relies on a time division multiplexing access (TDMA) method implemented in the application layer without any modification of specification. The timing analysis of this time-triggered IEEE 802.15.4 was executed, and the worst-case transmission delay was calculated. Based on this analysis, the time-triggered IEEE 802.15.4 is a promising alternative for wireless industrial networking.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.140-145
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• 1994

In this paper, we consider a problem to estimate process parameters using input-output data collected from the process operating in closed-loop control system. When orders and delay-time of the process are known correctly, under some conditions of identifying experiments, it is reported that accurate identification results can be obtained by applying prediction error method. To get accurate estimates, it is necessary to know orders and delay-time of the process. It is difficult to determine them in closed-loop identification, because ill-condition for identification are easily caused by selection of unsuitable order or delay time. Furthermore, the procedures to select orders and delay-time in open-loop identification aren't always available in closed-loop identification. The purpose of this paper is to determine a delay-time under suitable assumption that order of the process are known as the first step.

• Transactions on Control, Automation and Systems Engineering
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• 제2권3호
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• pp.149-156
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• 2000

Time delay observer (TDO), thanks to the time delay control (TDC) concept, requires little knowledge of a plant model, and hence is easy to design, robust to parameter variation and computationally efficient, yet can reconstruct states rather reliable for nonlinear plant. In this paper, we propose an improved version of TDO that solves two problems inherent in TDO as follows: TDO displays large reconstruction errors due to low-frequency uncertainty and has some restrictions on selecting its gains. By introducing a low pass filter and a state associated with it, we obtain an enhanced time delay observer (ETDO). This observer turns out to have smaller reconstruction errors than those of TDO and not to have any restriction on selecting its gains, thereby solving the problems. Through performance comparison by transfer function and simulation, we validate the analysis results of two observers (TDO and ETDO) and evaluate the performances. Finally, through experiments on BLDC motor system, the analysis results are clearly conformed.

• 대한전기학회논문지
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• 제34권2호
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• pp.63-71
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• 1985

The existing methods of pole assignment were reserved in this paper, a digital control method for MIMO dynamic systems was developed based on pole assignment using I/O delay. The underlined concept of the derived control law was that the poles corresponding to the order of a system can be assigned on the desired positions via output delay, and the poles of the order incrememted by output delay were forced to be placed on zero positions by way of input delay when applied to an actual MIMO system, the present scheme was shown to be more effective than the conventional state feedback scheme with observer in that the former was simpler than the latter, while they performed well.