• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2562-2567
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• 2005

This paper suggests a new method discretization of nonlinear system using Taylor series expansion and zero-order hold assumption. This method is applied into the sampled-data representation of a nonlinear system with input time delay. Additionally, the delayed input is time varying and its amplitude is bounded. The maximum time-delayed input is assumed to be two sampling periods. Them mathematical expressions of the discretization method are presented and the ability of the algorithm is tested for some of the examples. And 'hybrid' discretization scheme that result from a combination of the ‘scaling and squaring' technique with the Taylor method are also proposed, especially under condition of very low sampling rates. The computer simulation proves the proposed algorithm discretized the nonlinear system with the variable time-delayed input accurately.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.649-655
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• 2007

In this paper, a time-delayed controller for position control of humanoid robot arms is designed and implemented on a field programmable gate array(FPGA) chip. The time-delayed control algorithm is simple to implement, and robust to reject disturbances. The time-delayed control method uses the one sample time-delayed previous information to cancel out uncertainties in the system. Since the sampling time is so fast with the current hardware technology, the time-delayed controller can be implemented. However, inertia values should be correctly estimated to have the better performance. The position tracking tasks of humanoid robot arms are tested to compare performances of several control algorithms including the time-delayed controller.

• 대한전자공학회논문지SD
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• 제41권3호
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• pp.31-38
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• 2004

광섬유격자 센서어레이의 복조에 사용할 목적으로 광섬유레이저의 파장변화 검출방법을 제안하였다. 삼각파로 변조된 광섬유레이저의 출력 파장을 Mach-Zehnder 간섭계와 시간지연샘플링 기법으로 분석하였다. 피크간의 시간차를 측정하는 기존의 방법과 달리 파장변조 메카니즘의 비선형 특성에 무관하게 항상 선형적인 출력을 얻을 수 있었으며 6.5 ㎚의 스캔범위에서 약 20 pm의 파장분해능을 얻을 수 있었고, 이는 응답특성이 뛰어난 위상변조기를 사용할 경우 크게 개선될 수 있음을 보였다.

• Journal of Mechanical Science and Technology
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• 제20권6호
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• pp.759-769
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• 2006

This paper proposes a new method of discretization for nonlinear systems using a Taylor series expansion and the zero-order hold assumption. The method is applied to sampled-data representations of nonlinear systems with input time delays. The delayed input varies in time and its amplitude is bounded. The maximum time-delayed input is assumed to be two sampling periods. The mathematical expressions of the discretization method are presented and the ability of the algorithm is tested using several examples. A computer simulation is used to demonstrate that the proposed algorithm accurately discretizes nonlinear systems with variable time-delayed inputs.

• 한국광학회지
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• 제15권1호
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• pp.34-38
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• 2004

파장가변형 광섬유레이저로 광섬유격자 센서어레이를 복조하는 방법을 제안하였다. 레이저의 출력파장을 시간지연 샘플링으로 분석하고 이를 이용하여 기존 시스템의 비선형적 동작특성을 개선하였다. 계산된 파장값은 센서어레이 출력파평의 각 피크에 할당되어 파장가변필터의 비선형성에 영향받지 않고 가해진 물리량에 대하여 항상 선형적인 출력을 얻게 하였다. 실험을 통하여 약 20 pm의 분해능을 얻었으며 이는 고속의 위상변조를 사용할 경우 크게 개선될 수 있음을 보였다.

• Transactions on Control, Automation and Systems Engineering
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• 제2권4호
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• pp.274-284
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• 2000

In this paper, the design methodology of digital fuzzy controller(DFC) for the systems with time-delay is presented and the qualitative effects of the quantizers in digital implementation of a fuzzy controllers are investigated. We propose the fuzzy feed-back controller whose output is delayed with unit sampling period and period and predicted. the analysis and the design problem considering time-delay become very easy because the proposed controller is syncronized with the sampling time. The stabilization problem of the digital fuzzy system with time-delay is solved by linear matrix inequality(LMI) theory. Furthermore, we analyze the stability of the quantized fuzzy system. Our results prove that when quantization os taken into account, one only has convergence to some small neighborhood about origin. We develop a fuzzy control system for backing up a computer-simulated truck-trailer with the consideration of time-delay and quantization effect. By using the proposed method, we analyze the quantization effect to the system and design a DFC which guarantees the stability of the control system in the presence of time-delay.

• Journal of Biosystems Engineering
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• 제19권1호
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• pp.17-21
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• 1994

This reasearch was performed to provide the fundamental intonation for the mechanization of Korean pine cone harvest when the shoot shearing method is adopted. Shear force and stress of pine cone shoots were measured and analyzed for this purpose. Samples are selected along their harvesting time and tested in 17 levels of shoot diameter from 10 to 26mm with 1mm increment. 1) Shear force-deformation characteristics showed that shoot reached its rupture point after 2 to 4 of bio-yield points. It was supposed that these multiple bio-yield points were caused by the discrete compression of wood parts which are composed of water, nutrient, resin, etc. 2) Required shear force to shear shoot was proportional to the square of shoot diamter, however, shear force for shoots of early harvesting time(Aug. 31) was proportional to the shoot diameter. Variance of shear force was increased as the harvesting time was delayed. Shear forces were distributed from 468N(Aug. 31, 12mm dia) to 4153N(Aug. 31, 26mm dia) disregarding the sampling date. 3) The average shear stresses by sampling dates were 744,822, and 883N/m2, respectively, and for the earlier shoot samples shear stress was quite smaller than the others. Shear stress was proportional to shoot diameter squared, and the effect of shoot diameter on the shear stress was decreased as harvesting time was delayed.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.293-301
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• 2006

A new discretization method for calculating a sampled-data representation of a nonlinear continuous-time system is proposed. The proposed method is based on the well-known Taylor series expansion and zero-order hold (ZOH) assumption. The mathematical structure of the new discretization method is analyzed. On the basis of this structure, a sampled-data representation of a nonlinear system with a time-delayed input is derived. This method is applied to obtain a sampled-data representation of a non-affine nonlinear system, with a constant input time delay. In particular, the effect of the time discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. 'Hybrid' discretization schemes that result from a combination of the 'scaling and squaring' technique with the Taylor method are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method parameters to meet CPU time and accuracy requirements are examined as well. The performance of the proposed method is evaluated using a nonlinear system with a time-delayed non-affine input.

• Journal of Mechanical Science and Technology
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• 제19권11호
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• pp.1975-1987
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• 2005

An input time delay always exists in practical systems. Analysis of the delay phenomenon in a continuous-time domain is sophisticated. It is appropriate to obtain its corresponding discrete-time model for implementation via digital computers. In this paper a new scheme for the discretization of nonlinear systems using Taylor series expansion and the zero-order hold assumption is proposed. The mathematical structure of the new discretization method is analyzed. On the basis of this structure the sampled-data representation of nonlinear systems with time-delayed multi-input is presented. The delayed multi-input general equation has been derived. In particular, the effect of the time-discretization method on key properties of nonlinear control systems, such as equilibrium properties and asymptotic stability, is examined. Additionally, hybrid discretization schemes that result from a combination of the scaling and squaring technique (SST) with the Taylor series expansion are also proposed, especially under conditions of very low sampling rates. Practical issues associated with the selection of the method's parameters to meet CPU time and accuracy requirements, are examined as well. A performance of the proposed method is evaluated using a nonlinear system with time delay maneuvering an automobile.

• 한국지능시스템학회논문지
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• 제10권5호
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• pp.423-431
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• 2000

In this paper, the effect of computing time-delay in the real-time digital fuzzy control systems is investigated and the design methodology of a real-time digital fuzzy controller(DFC) to overcome the problems caused by it is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period. The analysis and the design problem considering computing time-delay is very easy because the proposed controller is syncronized with the sampling time. The stabilization problem of the digital fuzzy control system is solved by the linear matrix inequality(LMI) theory. Convex optimization techniques are utilized to find the stable feedback gains and a common positive definite matrix P for the designed fuzzy control system Furthermore, we develop a real-time fuzzy control system for backing up a computer-simulated truck-trailer with the consideration of the computing time-delay. By using the proposed method, we design a DFC which guarantees the stability of the real time digital fuzzy control system in the presence of computing time-delay.