• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.241-244
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• 1996

This paper discusses the general properties and the design procedures of Internal Model Control(IMC) scheme for nonlinear plants. Also we propose new nonlinear IMC(NIMC) design method using linear IMC. Although all IMC controllers can be thought simple 'inverse controller', its nonlinear realization is not easy. Propose NIMC is composed multiple linear models, IMC controllers, and switching scheme. The advantages of this method are we can use simple linear IMC design method and need not nonlinear modelings.

• ETRI Journal
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• 제39권3호
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• pp.364-372
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• 2017

For the reliability of controllers in a software defined network (SDN), a dynamic and self-learning schedule method (DSL) is proposed. This method is original and easy to deploy, and optimizes the combination of multiple controllers. First, we summarize multiple controllers' combinations and schedule problems in an SDN and analyze its reliability. Then, we introduce the architecture of the schedule method and evaluate multi-controller reliability, the DSL method, and its optimized solution. By continually and statistically learning the information about controller reliability, this method treats it as a metric to schedule controllers. Finally, we compare and test the method using a given testing scenario based on an SDN network simulator. The experiment results show that the DSL method can significantly improve the total reliability of an SDN compared with a random schedule, and the proposed optimization algorithm has higher efficiency than an exhaustive search.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1509-1512
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• 1996

This paper presents an intelligent autopilot for STT missiles with multiple controllers. The mixed H$_{2}$/H$_{\infty}$ control technique is applied for each controller and implemented by using the genetic searching algorithm. To facilitate automatic switching of multiple controllers under different operating conditions, an error based switching scheme is also combined with the multiple controllers at the higher level, which constitutes a hierarchical intelligent control system. It is shown via computer simulation that the proposed autopilot outperforms the conventional one..

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.49-55
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• 2002

A decrease in the birthrate and aging are progressing in Japan and several countries. In that society, it is important that physically weak persons such as elderly persons are able to take care of themselves. We have been developing exoskeletal robots for human (especially for physically weak persons) motion support. In this study, the controller controls the angular position and impedance of the exoskeltal robot system using multiple fuzzy-neuro controllers based on biological signals that reflect the human subject's intention. Skin surface electromyogram (EMG) signals and the generated wrist force by the human subject during the elbow motion have been used as input information of the controller. Since the activation level of working muscles tends to vary in accordance with the flexion angle of elbow, multiple fuzzy-neuro controllers are applied in the proposed method. The multiple fuzzy-neuro controllers are moderately switched in accordance with the elbow flexion angle. Because of the adaptation ability of the fuzzy-neuro controllers, the exoskeletal robot is flexible enough to deal with biological signal such as EMG. The experimental results show the effectiveness of the proposed controller.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권9호
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• pp.4144-4165
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• 2018

Software-defined networking (SDN) has emerged as a promising technology for network programmability and experiments. In this work, we focus on virtual network embedding in multiple controllers SDN network. In SDN virtualization environment, virtual SDN networks (vSDNs) operate on the shared substrate network and managed by their each controller, the placement and load of controllers affect vSDN embedding process. We consider controller placement, vSDN embedding, controller adjustment as a joint problem, together considering different quality of service (QoS) requirement for users, formulate the problem into mathematical models to minimize the average time delay of control paths, the load imbalance degree of controllers and embedding cost. We propose a heuristic method which places controllers and partitions control domains according to substrate SDN network, embeds different QoS constraint vSDN requests by corresponding algorithms, and migrates switches between control domains to realize load balance of controllers. The simulation results show that the proposed method can satisfy different QoS requirement of tenants, keep load balance between controllers, and work well in the acceptance ratio and revenue to cost ratio for vSDN embedding.

• 제어로봇시스템학회논문지
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• 제4권4호
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• pp.458-463
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• 1998

This paper presents an autopilot design method for STT missiles using the intelligent control technique and multiple controllers. The mixed $H_2/H_{\infty}$ control technique is applied for each controller design and the control gains are implemented by using the genetic searching algorithm. To facilitate automatic switching of multiple controllers under different operating conditions, an error based switching scheme is also combined with the multiple controllers at a higher level, which constitutes a hierarchical intelligent control system. It is shown via computer simulation that the proposed autopilot outperforms the conventional one.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.201-204
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• 1998

This paper presents a new construction method of candidate controllers using Multi-modal Neural Network(MNN). To improve a control performance of multiple controller, we construct, candidate controllers which consist of MNN. MNN can learn more complicated function than multilayer neural network. MNN consists of preprocessing module and neural network module. The preprocessing module transforms input signals into spectra which are used as input of the following neural network module. We apply the proposed method to multiple control system which controls the cart-pole balancing system and show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.173-176
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• 1996

This paper deals with the problem of designing an adaptive regulator in order to improve transient performance in time-response when the linear state-space model of the plant contains unknown parameters which vary within prescribed bounds. The whole possible parameter space is divided into some subspaces and multiple models and controllers are established from the view point that each controller gives satisfactory transient behavior for systems corresponding to each parameter subspace. Based on time-response and an associated cost function, an appropriate controller is selected on-line out of multiple controllers.

• 전자공학회논문지B
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• 제33B권11호
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• pp.22-30
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• 1996

In this paper, the properties and the design procedures of the internal model control (IMC) structures are discussed and a new nonlinear IMC(NIMC) strategy is proposed. The IMC controllers are simply inverse controller in principle but the development of a NIMC poses difficulties due to the inherent complexity of nonlinear systems. Existing design mehtods are a few and not easy to implement. The proposed approach is using multiple linear models, linear IMC controllers, and swiching scheme instead of using nonlinear model/controller. The advantages of the new approach are that we can use linear IMC mehtod which are now well estabilished and need not global nonlinear models.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.144-155
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• 2004

This paper addresses the issue of position control of a chain of multiple mass-spring-damper (CMMSD) units which can be found in many physical systems. The dynamic model of a CMMSD system with any degrees of freedom is expressed in a closed-form for the convenience of the controller design. Backstepping and model reference adaptive control (MRAC) approaches are then used to develop two adaptive output feedback controllers to control the position of a CMMSD system. The proposed controllers rely on the measurements of the input (force) and the output (position of the mass unit at the end of the chain) of the system without the knowledge of its parameters and internal states. Simulations are used to verify the effectiveness of the controllers