• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.1 s.94
• /
• pp.200-209
• /
• 1999

This paper presents a precise tracking control scheme for the proposed parallel robot using artificial neural network. This control scheme is composed of three feedback controllers and one feedforward controller. Conventional PD controller and artificial neural network are used as feedback and feedforward controller respectively. A backpropagation learning strategy is applied to the training of artificial neural network, and PD controller outputs are used as target outputs. The PD controllers are designed at the robot dynamics based on inter-relationship between active joints and moving platform. Feedback controllers insure the total stability of system, and feedforward controller generates the control signal for trajectory tracking. The precise tracking performance of proposed control scheme is proved by computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.669-674
• /
• 1989

Robot manipulators are highly coupled nonlinear systems and their motions are influenced by uncertain dynamics. In this paper a design methodology which is called model feedback control system or plant model control scheme is presented for the purpose of reducing the influence of the uncertain dynamics. This control system is applied to the trajectly control of the directly drived robot. Theoretically and experimentally performances resulting from use of this control scheme show that the influences of the uncertain dynamics are reduced obviously.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.15 no.5
• /
• pp.72-78
• /
• 2006

The paper proposes reference model error feedback control scheme for motion control system with hard non-linear components as like saturation and dead-zone in plant input part. Additionally, the plant has the system uncertainty effected by plant model parameter deviation and disturbance. The control algorithm uses the reference model to apply additional feedback loop with the error between reference model output and actual output effected by disturbance and non-linear components. And the stability evaluation based on Popov stability and controller design method are formulated to be performed. The effectiveness of the proposed scheme is examined by simulations. The results are proven by reasonable performances following reference model responses with good disturbance rejection performance without over-tuning of controller.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.9
• /
• pp.4342-4366
• /
• 2016

Congestion control in Cluster Wireless Sensor Networks (CWSNs) has drawn widespread attention and research interests. The increasing number of nodes and scale of networks cause more complex congestion control and management. Active Queue Management (AQM) is one of the major congestion control approaches in CWSNs, and Random Early Detection (RED) algorithm is commonly used to achieve high utilization in AQM. However, traditional RED algorithm depends exclusively on source-side control, which is insufficient to maintain efficiency and state stability. Specifically, when congestion occurs, deficiency of feedback will hinder the instability of the system. In this paper, we adopt the Additive-Increase Multiplicative-Decrease (AIMD) adjustment scheme and propose an improved RED algorithm by using neighbor feedback and scheduling scheme. The congestion control model is presented, which is a linear system with a non-linear feedback, and modeled by Lur'e type system. In the context of delayed Lur'e dynamical network, we adopt the concept of cluster synchronization and show that the congestion controlled system is able to achieve cluster synchronization. Sufficient conditions are derived by applying Lyapunov-Krasovskii functionals. Numerical examples are investigated to validate the effectiveness of the congestion control algorithm and the stability of the network.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.14 no.3
• /
• pp.32-37
• /
• 2005

Several types of smart materials and control scheme are available to adjust the structure actively in various external disturbances. A control scheme was introduced for a specific material. But the effectiveness of the control scheme has some limitation according to the choice of the smart materials and the response of the structure. The ER(Electrorheological) fluid is adequate for a large control force, and the PZT(lead zirconate titanate) patches are suitable for small but arbitrary control force at any point of the structure. It can be used for active control of structure by changing the dynamic characteristics of the structure. But it has some difficulty in suppressing the excited vibration in broad band. To compensate this resonance of the controlled structure, a hybrid controller was constructed using PPF(Positive position feedback) control with PZT and ER fluid control.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.2
• /
• pp.124-131
• /
• 1997

This paper presents a modified adaptive control scheme that improves the transient performance of the overall system while maintaining the asymptotic convergence of the output error. The proposed control scheme is characterized as the added outer dynamic feedback loop on the conventional adaptive control scheme. This control scheme enables various robust control methods that were developed for standard model reference adaptive controllers to be applied to the proposed controller. In contrast with the modified adaptive controllers that use augmented errors to provide additional dynamic feedback, the proposed controller uses tracking error directly, thereby reducing the tracking error significantly in the transient state and making the error insensitive to noise.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.11
• /
• pp.1637-1645
• /
• 2004

In remote control of telerobotics equipment, the real-time visual feedback is necessary in order to facilitate real-time control. Because of the network congestion and the associated delays, the real-time image feedback is generally difficult in the public networks like internet. If the remote user is not able to receive the image feedback within a certain time, the work performance may tend to decrease, and it makes difficulties to control of the telerobotics equipment. In this paper, we propose an improved visual feedback scheme over the internet for telerobotics system. The size of a remote site image and its quality are adjusted for efficient transmission. The constructed system has a better real-time update characteristics, and shows a potential for the real-time visual control of the telerobotics system.

• Proceedings of the KIPE Conference
• /
• 2017.07a
• /
• pp.266-267
• /
• 2017

To synchronize the distributed generation (DG) unit with the grid, the voltage sensors are generally employed to obtain the grid phase angle. This paper presents an observer-based voltage sensorless control scheme for a three-phase inverter connected to the grid through an LCL filter. The proposed control scheme consists of an augmented state observer and a feedback controller. The augmented state observer is used to estimate the grid voltages and states of the inverter system, which are then employed to determine the grid voltage angle and to construct the feedback controller. As a result of using the observer, only the grid current sensors are required to accomplish the control scheme. The simulation results are given to prove the validity of the proposed control scheme.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.70-71
• /
• 2007

This paper presents an application of LQR(Linear Quadratic Regulator) for experimental control moment gyroscope. To be specific, mathematical model is first derived based on the quaternion and Lagrange's equation, state feedback controller using LQR scheme is designed, and to show the stability of the scheme, experimental results are given.

• Journal of Power Electronics
• /
• v.3 no.3
• /
• pp.197-204
• /
• 2003

An improved nonlinear speed control of a permanent magnet synchronous motor (PMSM) is presented A quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the nonlinear speed control of a PMSM is derived Using this model, to overcome the drawbacks of conventional nonlinear control scheme, the improved nonlinear control scheme which employs time delay control (TDC) scheme is proposed. To show the validity of the proposed control scheme, simulation studies are carried out and compared with the conventional control scheme.