• Journal of Institute of Control, Robotics and Systems
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• v.9 no.7
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• pp.515-526
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• 2003

Tutorial contents of kinematics and dynamics of a wheeled drive mobile robot are presented. Based on the dynamic model, simulation studies of position tracking of a mobile robot are performed. The control structure of several position control algorithms using visual feedback are proposed and their performances are compared. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position control schemes are proposed. Experiments are conducted and the results show the performance of the vision based neural network control scheme fumed out to be the best among several proposed schemes.

• Journal of Communications and Networks
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• v.18 no.2
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• pp.246-260
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• 2016

A major challenge achieving scalable access control for a large number of subscribers in a public broadcast is to distribute key update messages reliably to all stateless receivers. However, in a public broadcast, the rekeying messages can be dropped or compromised during transmission over an insecure broadcast channel, or transmitted to receivers while they were off-line. In this study, we propose a novel group key management scheme. It features a mechanism to allow legitimate receivers to recover the current group key, even if they lose key update messages for long-term sessions. The scheme uses short hint messages and member computation. Performance analysis shows that the proposed scheme has the advantages of scalability and efficient rekeying compared to previous reliable group key distribution schemes. The proposed key management scheme targets a conditional access system in a media broadcast in which there is no feedback channel from receivers to the broadcasting station.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8A
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• pp.612-617
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• 2012

Two phase control (PC) schemes using limited feedback are proposed for multiple-input single-output (MISO) systems. One PC scheme cophases channel gains with respect to the first transmit antenna channel gain, and the other PC scheme cophases channel gains by positioning all the channel gains into a fixed sector. We analyze the combined channel gain for both PC schemes, and find that the PC scheme that cophases with respect to the first transmit antenna channel gain provides 1.2 dB power gain over an orthogonal space-time block code (OSTBC) when the number of transmit antennas is four and the number of feedback bits is three.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.11
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• pp.9-21
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• 2009

This paper proposes the alternative observer and controller design scheme based on T-S fuzzy model. Nonlinear systems are represented by fuzzy models since fuzzy logic systems are universal approximators. In order to estimate the unmeasurable states of a given unknown nonlinear system, T-S fuzzy modeling method is applied to get the dynamics of an observation system. T-S fuzzy system uses the linear combination of the input state variables and the modeling applications of them to various kinds of nonlinear systems can be found. The proposed indirect adaptive fuzzy observer based on T-S fuzzy model can cope with not only unknown states but also unknown parameters. The proposed controller is based on a simple output feedback method. Therefore, it solves the singularity problem, without any additional algorithm, which occurs in the inverse dynamics based on the feedback linearization method. The adaptive fuzzy scheme estimates the parameters and the feedback gain comprising the fuzzy model representing the observation system. In the process of deriving adaptive law, the Lyapunov theory and Lipchitz condition are used. To show the performance of the proposed observer and controller, they are applied to an inverted pendulum on a cart.

• Journal of Communications and Networks
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• v.4 no.2
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• pp.118-127
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• 2002

This paper proposes a new scheme - parallel control scheme with feedback control (PCFC) for ABR services in ATM networks. The information from a source is split into a number of streams, for delivery over separate parallel connections with particular coding. At the receiver, the original information is reconstructed by the received packet from the parallel connections. The effects of PCFC on the network performance are due to two factors: Traffic splitting and load balancing. By combinations of analysis and simulation, this paper studies the implications of PCFC for how the ABR parameters should be scaled and the advantages of PCFC compared with other existing schemes.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.1
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• pp.95-100
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• 2001

In this paper, we proposed the robust control scheme for a class of nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r＜n and zero dynamics is stable. It is also shown that the global asymtotically stability is guaranted. And we verified that the proposed control scheme Is the feasible through a computer simulation.

• Journal of Electrical Engineering and Technology
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• v.5 no.1
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• pp.163-170
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• 2010

Multiple subsystems are required to behave synchronously or cooperatively in many areas. For example, synchronous behaviors are common in networks of (electro-) mechanical systems, cell biology, coupled neurons, and cooperating robots. This paper presents a feedback scheme for synchronization between Hindmarsh-Rose models which have polynomial vector fields. We show that the problem is equivalent to finding an asymptotically stabilizing control for error dynamics which is also a polynomial system. Then, an extension to a nonlinear observer-based scheme is presented, which reduces the amount of information exchange between models.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.8
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• pp.139-147
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• 2014

We address the problem of corrective control for two asynchronous sequential machines in parallel connection. Each asynchronous machine receives the same external input and shows independent state transition characteristics. We propose a novel control scheme in which only one corrective controller is employed so as to make the closed-loop system of each machine match the behavior of the corresponding reference model. Compared with the former method utilizing two corrective controllers, our scheme can reduce the controller size and computational load in controller design. We present the existence condition and design procedure for a state-feedback corrective controller under the assumption that the controlled machines are of input/state type. The design procedure for the proposed controller is described in an illustrative example.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.433-435
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• 1993

The purpose of this study is to propose a robust OFVSCS that have the robust properties against process parameter variations and external disturbances by extending the basic OFVSCS and to evaluate its control performances. The ROFVSCS is composed of dynamic switching surfaces and output feedback switching control inputs that are constructed by the use of the unknown vector modeling technique. With the proposed scheme. existence of sliding mode is guaranteed and any nonzero bias can be suppressed in the face of disturbances and process parameter variations as far as well-known matching condition is satisfied. Due to the fact that the ROFVSCS is driven by small number of measured information, the practical application of VSCS for the systems with unmeasurable states and for high order systems. that conventional schemes cannot be applied, is possible with the proposed scheme. It is noticeable that implementation cost or VSCS can be considerably reduced without sacrifice of control performances by adopting ROFVSCS since there is no need to measure the states with high measurement cost.

• Journal of Power Electronics
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• v.17 no.4
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• pp.1058-1070
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• 2017

This paper proposes a novel active damping scheme to suppress LCL-filter resonance with only grid-current feedback control in grid-connected voltage-source converters. The idea comes from the concept of the model reference adaptive control (MRAC). A detailed theoretical derivation is given, and the effectiveness of this method is explained based on its physical nature. According to the control structure of this method, the active damping compensator, which is essentially a second order resonant integrator (SORI) filter, provides an effective solution to damp LCL resonance and to eliminate the need for additional sensors. Compared with extra feedback methods, the cost and complexity are reduced. A straightforward tuning procedure for the active damping method has been presented. A stability analysis is illustrated in the discrete domain while considering a one-step delay. Finally, experimental results are presented to validate the analysis and to demonstrate the good performance of the proposed method.