• 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.

• KIISE Transactions on Computing Practices
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• v.21 no.3
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• pp.173-182
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• 2015

Motion control systems are widely deployed in various industrial automation processes. The motion controller, which is a key element of motion control systems, has stringent real-time constraints. The controller must provide a short and deterministic control message transmission cycle, and minimize the actuation deviation among motor drives. To meet these requirements, hardware-based proprietary controllers have been prevalent. However, since it is becoming difficult for such an approach to meet increasing needs of system interoperability and scalability, nowadays, software-based universal motion controllers are regarded as their substitutes. Recently, embedded motion controller solutions are gaining attention due to low cost and relatively high performance. In this paper, we designed and implemented an embedded motion controller on an ARM-based evaluation board by using Xenomai real-time kernel and other open source software components. We also measured and analyzed the performance of our embedded controller under a realistic test-bed environment. The experimental results show that our embedded motion controller can provide relatively deterministic performance with synchronized control of three motor axis at 2 ms control cycle.

• The Transactions of the Korean Institute of Power Electronics
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• v.6 no.2
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• pp.132-140
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• 2001

A universal motor is a small dc series machine motor that is designed to operate from an ac machine. The characteristics of universal motors are high no-load and staring torque. Because of the high operating speed, the size of these motors for a given hp rating is typically smaller that other fractional hp ac machine, making it ideal for hand-held tools and appliances where weight, compactness, and speed are importance factors. A phase-angle control with AC drive system gains a high popularity due to their simple implementation, but contains the disadvantage of their poor input power factor, subharmonic current. Pulse width modulation control with DC drive systems increase the power factor as without delay phase angle. This paper analyzed the subharmonic characteristics of the phase angle control system that is controlled by zero voltage crossing similar to traditional method, and the dc chopper system that is used PWM.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.313-318
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• 1994

It is well known that the neural network can be used as an universal approximater for functions and functionals. But these theoretical results are just an existence theorem and do not lead to decide the suitable network structure. This doubfulness whether a certain network can approximate a given function or not, brings about serious stability problems when it is used to identify a system. To overcome the stability problem, We suggest successive identification and control scheme with supervisory controller which always assures the identification process within a basin of attraction of one stable equilibrium point regardless of fittness of the network.

• Proceedings of the Korean Information Science Society Conference
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• 2004.10c
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• pp.625-627
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• 2004

최근 홈 네트워크 상에서 가전기기를 통합 제어하는 무선 통합 컨트롤러의 연구 개발이 활발히 진행되고 있다. 본 논문에서는 근거리 무선망인 블루투스를 사용하며 가정 내에서 가전기기를 제어하는 블루투스 통합 컨트롤러를 설계하고 구현한다. 제안된 통합 컨트롤러는 사용자 관리 및 기기의 세부기능 제어를 위해 메신저 형식의 사용자 인터페이스로 설계한다 또한 블루투스의 SOP(Service Discovery Protocol)를 사용하여 댁내 가전기기를 위한 서비스를 동적 발견하고 관리한다.

• Proceedings of the Korean Information Science Society Conference
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• 2003.04d
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• pp.385-387
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• 2003

본 논문에서는 블루투스와 COMA용 무선단말 기능이 내장된 PDA를 사용하여 인터넷 정보가전용 유니버설 리모트 컨트롤러를 설계 구현한다. PDA 단말로 정보가전을 원격 제어하고 모니터링하기 위해 XML과 CDMA의 SMS 정보가전 메시지 형식을 설계한다. 또한 흠 서버에는 블루투스와 CDMA를 포팅하고 정보가전 명령 및 메시지 매핑과 PDA 상에 유니버설 리모트 컨트롤러 인터페이스를 구현하여 테스트한다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.40.4-40
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• 2001

This paper addresses the problem of designing robust adaptive output tracking control for a class of MIMO nonlinear systems which have different number of inputs and outputs The stability of the whole closed-loop system is guaranteed in the sense of Lyapunov and uniformly Itimately boundedness of the tracking error vector as well as estimated parameters are shown. In addition, we show that the restrictive assumptions on input gain matrix which is presumed in the past works can be eliminated by using proposed control law.

• Journal of Power Electronics
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• v.15 no.3
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• pp.644-651
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• 2015

This paper introduces a novel digital one cycle control (DOCC) boost power factor correction (PFC) converter. The proposed PFC converter realizes the FPGA-based DOCC control approach for single-phase PFC rectifiers without input voltage sensing or a complicated two-loop compensation design. It can also achieve a high power factor and the operation of low harmonic input current ingredients over universal loads in continuous conduction mode. The trailing triangle modulation adopted in this approach makes the acquisition of the average input current an easy process. The controller implementation is based on a boost topology power circuit with low speed, low-resolution A/D converters, and economical FPGA development board. Experimental results demonstrate that the proposed PFC rectifier can obtain a PF value of up to 0.999 and a minimum THD of at least 1.9% using a 120W prototype.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.178-186
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• 2006

We propose and analyze a robust adaptive fuzzy controller for nonlinear systems without a priori knowledge of the sign of the input gain function. No assumptions are made about the type of nonlinearities of the system, except that such nonlinearities are smooth. The uncertain nonlinearities are captured by the fuzzy systems that have been proven to be universal approximators. The proposed control scheme completely overcomes the singularity problem that occurs in the indirect adaptive feedback linearizing control. Projection in the estimated parameters and switching in the control input are both not required. The stability of the closed-loop system is guaranteed in the Lyapunov viewpoint.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.4
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• pp.1-12
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• 2004

This paper presents an adaptive fuzzy backstepping (AFB) controller for a single-link flexible joint robot in the Presence of Parametric uncertainties and external disturbances. Adaptive fuzzy logic systems are used as universal approximators to counteract the model uncertainties coming from robot dynamics and to compensate for the nonlinearities coming from adaptive backstepping method. The approach suggested herein does not require neither an additional supervisory nor a robustifying controller and guarantees that tracking error is uniformly ultimately bounded (UUB) within a sufficiently small residual set. Finally, a simulation result is given to demonstrate the robust tracking performance of proposed design method.