• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.14-20
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• 1996

This paper presents a self tuning method of a velocity type PID controller for minimum or non-minimum phase systems with time delays. The velocity type PID control structure is determined in the process of minimizing the variance of the auxilliary output, and self tuning effect is achieved through the recursive least square algorithm at the parameter estimation stage and also through the Robbins-Monro algorithm at the stage of optimizing a design parameter. This method is simple and effective compared with other existing methods[1,2]. Numerical examples are included to illustrate the procedure and to show the performance of the control system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.206-211
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• 2011

In this paper, a control algorithm for the improvement of yaw and velocity stability of electrical vehicle with two or four in-wheel motors is proposed. The vehicle is modeled with independently operative in-wheel motor wheels. Different frictions on the wheels are regarded as disturbances, which causes driving instability. In this situation the proposed algorithm enables stabilizing the yaw motion and velocity of vehicle simultaneously. The proposed PID controller is composed with two techniques, which enhance the disturbance reject and point tracking performances. One is nonlinear gain function and the other one is improved integral controller operating as time based weight function. Simulation is conducted to reveal its efficient performance.

• 한국소음진동공학회논문집
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• 제25권5호
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• pp.361-368
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• 2015

This paper deals with a robust fine seek controller design problem with multiple constraints using a genetic algorithm. A robust $H\infty$ constraint is introduced to attenuate effectively velocity disturbance caused by the eccentric rotation of the disk. A weighting function is optimally selected based on the estimation of velocity disturbance and the estimated minimum velocity loop gain. A robust velocity loop constraint is considered to minimize the variances of the velocity loop gain and bandwidth against the uncertainties of fine actuator. Finally, a robust fine seek controller is obtained by solving a genetic algorithm with an LMI condition and an appropriate objective function. The proposed controller design method is applied to the fine seek control system of a DVD recording device and is evaluated through the experimental results.

• International Journal of Automotive Technology
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• 제6권5호
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• pp.545-554
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• 2005

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified by behaviors in terms of a velocity field and the closed-loop was passive with respect to the supply rate given by the environment input. However, the PVFC was only applied to a single manipulator. The proposed control law was derived geometrically and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a virtual passivity-based algorithm to apply decentralized control to multiple 3­wheeled mobile robotic systems whose subsystems are under nonholonomic constraints and convey a common rigid object in a horizontal plain. Moreover, it is shown that multiple robot systems ensure stability and the velocities of augmented systems converge to a scaled multiple of each desired velocity field for cooperative mobile robot systems. Finally, the application of proposed virtual passivity-based decentralized algorithm via system augmentation is applied to trace a circle and the simulation results is presented in order to show effectiveness for the decentralized control algorithm proposed in this research.

• Journal of Mechanical Science and Technology
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• 제19권9호
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• pp.1720-1730
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• 2005

Automatic guided vehicle in the factory has an important role to advance the flexible manufacturing system. In this paper, we propose a novel object-transportation control algorithm of cooperative AGV systems to apply decentralized control to multiple AGV systems. Each AGV system is under nonholonomic constraints and conveys a common object-transportation in a horizontal plain. Moreover it is shown that cooperative robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative AGV systems. Finally, the application of proposed virtual passivity-based decentralized control algorithm via system augmentation is applied to trace a circle. Finally, the simulation and experimental results for the object-transportation by two AGV systems illustrates the validity of the proposed virtual-passivity decentralized control algorithm.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.638-647
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• 1996

Robot manipulators for harvesting fruits must be controlled to track the desired path of end-effector to avoid obstacles under the consideration of collision free area and safety path. This paper presents a robot path control algorithm to secure a collision free area with the recognition of work environments. The flexible space, which does not damage fruits or branches of tree due to their flexibility and physical properties , extends the workspace. Now the task is to control robot path in the extended workspace with the consideration of collision avoidance and velocity limitation at the time of collision concurrently. The feasibility and effectiveness of the new algorithm for redundant manipulators were tested through simulations of a redundant manipulator for different joint velocities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.147.5-147
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• 2001

This paper describes a gait algorithm and a velocity limitation method for a Leg-Wheel Robot. The gait algorithm enables the robot to preserve continuous locomotion even if the velocity command varies extensively. The velocity limitation method restricts the commanded velocity when it exceeds the mechanical limitation of the robot. Combined use of the velocity limitation method with the gait algorithm ensures the continuity of locomotion, and makes the gait pattern efficient with a long step length and low frequency of leg phase change. These methods can be applied to locomotion on unexplored rough terrain even if the range of roughness is unknown.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.375-381
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• 2011

This paper deals with the improvement of visual path following through velocity variation according to the coordinate of feature points. Visual path follow first teaches driving path by selecting milestone images then follows the route by comparing the milestone image and current image. We follow the visual path following algorithm of Chen and Birchfield [8]. In [8], they use fixed translational and rotational velocity. We propose an algorithm that uses different translational velocity according to the driving condition. Translational velocity is adjusted according to the variation of the coordinate of feature points on image. Experimental results including diverse indoor cases show the feasibility of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1269-1274
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• 2004

This paper presents a new quantisation algorithm which has the closed-loop form and guarantees the boundness of accumulative error. This algorithm is particularly useful for mobile robot navigation that is usually implemented on embedded systems. If wheel commands of the mobile robot are given by velocity or positional increment at every control instant and quantised due to finite word length of controller's CPU, the quantisation error gets accumulated to causes large position error. Such an error accumulative characteristic is fatal for non wheeled mobile robots or autonomous vehicles with non-holonomic constraint. To solve this problem, we propose a non-error accumulative quantisation algorithm with closed-loop form. We also show it can be extend to a generalized form corresponding to the n-th order accumulation. The boundness of the accumulative quantisation error is investigated by a series of computer simulation. The proposed method is particularly effective to precise navigation control the autonomous mobile robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.36-36
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• 2000

The paper presents a speed control algorithm for a full pitch-controlled wind turbine system. Torque of a blade generated by wind energy is non-linear function of a wind speed, angular velocity, and pitch angle of the blade. The design of a cor_troller, in general, is performed by linearizing the torque in the vicinity of a operating point assuming the angular velocity of the blade is constant. For speed control, however, the angular velocity is no longer a constant, so that linearization of the torque in terms of a wind speed and pitch angle is impossible. In this study, a reference pitch model is derived in terms of a wind speed, angular velocity, and pitch angle, which makes it possible to design a controller without linearizing the non-linear torque model of the blade. The validity of the algorithm is demonstrated with the results produced through sets of experiments.