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The Transactions of The Korean Institute of Electrical Engineers
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The Korean Institute of Electrical Engineers
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Volume & Issues
Volume 58, Issue 12 - Dec 2009
Volume 58, Issue 11 - Nov 2009
Volume 58, Issue 10 - Oct 2009
Volume 58, Issue 9 - Sep 2009
Volume 58, Issue 8 - Aug 2009
Volume 58, Issue 7 - Jul 2009
Volume 58, Issue 6 - Jun 2009
Volume 58, Issue 5 - May 2009
Volume 58, Issue 4 - Apr 2009
Volume 58, Issue 3 - Mar 2009
Volume 58, Issue 2 - Feb 2009
Volume 58, Issue 1 - Jan 2009
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Distributed Restoration Solution Algorithm Improving Reliability in Intelligent Distribution Management System
Lim, Il-Hyung ; Choi, Myeon-Song ; Lee, Seung-Jae ; Lee, Sung-Woo ; Kwon, Sung-Chul ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1651~1657
In this paper, restoration solution algorithm to improve reliability better than restoration system of DAS(Distribution Automation System) is proposed in IDMS(Intelligent Distribution Management System). A strategy of IDMS restoration system to improve reliability and efficiency is proposed by analysis restoration system in DAS. Restoration sequence algorithm, distributed restoration solution algorithm considering a characteristic and a suitable restoration solution algorithm in IDMS are proposed. In the case study, algorithms have testified with example distribution network by C language
The Security Constrained Economic Dispatch with Line Flow Constraints using the Multi PSO Algorithm Based on the PC Cluster System
Jang, Se-Hwan ; Kim, Jin-Ho ; Park, Jong-Bae ; Park, June-Ho ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1658~1666
This paper proposes an approach of Mult_HPSO based on the PC cluster system to reduce or remove the stagnation on an early convergence effect of PSO, reduce an execution time and improve a search ability on an optimal solution. Hybrid PSO(HPSO) is combines the PSO(Particle Swarm Optimization) with the mutation of conventional GA(Genetic Algorithm). The conventional PSO has operated a search process in a single swarm. However, Multi_PSO operates a search process through multiple swarms, which increments diversity of expected solutions and reduces the execution time. Multiple Swarms are composed of unsynchronized PC clusters. We apply to SCED(security constrained economic dispatch) problem, a nonlinear optimization problem, which considers line flow constraints and N-1 line contingency constraints. To consider N-1 line contingency in power system, we have chosen critical line contingency through a process of Screening and Selection based on PI(performace Index). We have applied to IEEE 118 bus system for verifying a usefulness of the proposed approaches.
Harmony Search Algorithm for Network Reconfiguration Problem in Distribution Systems
Rhee, Sang-Bong ; Kim, Kyu-Ho ; Kim, Chul-Hwan ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1667~1673
This paper presents a application of new algorithm for feeder reconfiguration problem in distribution systems. Harmony Search (HS) algorithm, which is motivated from the musical performance, is used to reconfigure distribution systems so that active power losses are globally minimized with turning on/off the sectionalizing and the tie-line switches. In optimization processing, the HS algorithm has searching ability for the global optimal solution, simple coding of the iteration procedure, and fast convergence to get the solution. The HS algorithm is tested on 15 buses and 69 buses distribution systems, and the results prove its effectiveness to determine appropriate switching options without the occurrence of any misdetermination in switching and get the minimum power loss.
The Self-Fault Determination and Restoration Methodology based on the Ethernet Communication
Ko, Yun-Seok ; Lee, Seo-Han ; Choi, Hyun-Chul ; Shin, Jae-Hyun ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1674~1680
This paper proposes an autonomous fault determination, fault zone isolation and fault restoration strategy based on the ethernet communication as a new attempt to solve the problem the of the existing central control method. In proposed method, The FRTU(Feeder Remote Terminal Unit)s on the feeder determines autonomously where the faulted zone is by exchanging the voltage and current information with neighbor FRTUs based on the network communication, and then separates the faulted zone in an nil-voltage status to make the protective device to reclose successively. In particular, the minimization of outage time and relational load balancing is archived by each interconnection switch which determines autonomously the load zone to be allocated among those zones after the sound outage zones was separated individually. Finally, to show effectiveness of the proposed fault restoration strategy, the several fault cases are simulated for the test distribution system, and the load balancing index of the proposed solution is compared with all of feasible solutions.
The Self-Fault Restoration Methodology based on the Recloser in the Distribution Systems
Ko, Yun-Seok ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1681~1688
This paper proposes a new fault restoration method which adopts the recloser as top agent to release the problems of the data concentration and fault processing delay of the existing DAS(distribution Automation System) under the ubiquitous distribution system. In proposed method, top agent collects the data based on the multi-casting communication with the tie switches of the interconnection point, and then selects a closed switch(tie switch) to transfer the sound outage load to other feeders based on the heuristic search strategy step by step until the load transfer work is finished. Here, a new heuristic rule is developed which can guarantee the relational load balancing and line loss from the collected voltage data. Finally, the several faults are simulated for typical multi-section and multi-interconnection distribution system to prove the effectiveness of the proposed strategy, in particular, for each simulation cases, the load balancing index and line loss index of the obtained solution from the proposed method is compared with those of all of feasible solutions.
A Study on Optimal Installation Method of Earth Continuity Conductor on Underground Power Cable Systems
Jung, Chae-Kyun ; Kang, Ji-Won ; Yoon, Jong-Keon ; Kim, Yang-Sang ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1689~1694
In a previous paper, the characteristics of ECC (earth continuity conductor) have been analysed for reducing the level of induced sheath voltage considering the dimension and position of ECC, the spacing between ECC and three phase cables, and the use of two ECC conductors at the single point boned section of underground power cable system. From these results, the study conditions for optimal installation has been selected such as installation section, conductor size and etc. In this paper, 5 cases which are set by possible installation conditions are tested based on previous research results. Finally, the optimal installation method of ECC is selected on underground power cable systems.
Short-term Load Forecasting of Using Data refine for Temperature Characteristics at Jeju Island
Kim, Ki-Su ; Ryu, Gu-Hyun ; Song, Kyung-Bin ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1695~1699
This paper analyzed the characteristics of the demand of electric power in Jeju by year, day. For this analysis, this research used the correlation between the changes in the temperature and the demand of electric power in summer, and cleaned the data of the characteristics of the temperatures, using the coefficient of correlation as the standard. And it proposed the algorithm of forecasting the short-term electric power demand in Jeju, Therefore, in the case of summer, the data by each cleaned temperature section were used. Based on the data, this paper forecasted the short-term electric power demand in the exponential smoothing method. Through the forecast of the electric power demand, this paper verified the excellence of the proposed technique by comparing with the monthly report of Jeju power system operation result made by Korea Power Exchange-Jeju.
A Scheme for Reducing Load Forecast Error During Weekends Near Typhoon Hit
Park, Jeong-Do ; Song, Kyung-Bin ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1700~1705
In general, short term load forecasting is based on the periodical load pattern during a day or a week. Therefore, the conventional methods do not expose stable performance to every day during a year. Especially for anomalous weather conditions such as typhoons, the methods have a tendency to show the conspicuous accuracy deterioration. Furthermore, the tendency raises the reliability and stability problems of the conventional load forecast. In this study, a new load forecasting method is proposed in order to increase the accuracy of the forecast result in case of anomalous weather conditions such as typhoons. For irregular weather conditions, the sensitivity between temperature and daily load is used to improve the accuracy of the load forecast. The proposed method was tested with the actual load profiles during 14 years, which shows that the suggested scheme considerably improves the accuracy of the load forecast results.
A PCS Power-sharing Operation Algorithm for Parallel Operation of Polymer Electrolyte Membrane Fuel Cell (PEMFC) Generation Systems
Kang, Hyun-Soo ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1706~1713
In this paper, a parallel operation algorithm for high power PEMFC generation systems is proposed. According to increasing the capacity of fuel cell systems with several fuel cell stacks, the different dynamic characteristics of each fuel cell stack effect on imbalance of load sharing and current distribution, so that a robust parallel operation algorithm is desired. Therefore, a power-sharing technique is developed and explained in order to design an optimal distributed PEMFC generation system. In addition, an optimal controller design procedure for the proposed parallel operation algorithm is introduced, along with informative simulations and experimental results.
Optimal Design of Battery of Fuel Cell Electric Vehicle Based on Fuel Cell Dynamic Characteristic Model
Ko, Jeong-Min ; Kim, Jong-Soo ; Lee, Young-Kuk ; Lee, Byung-Kuk ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1714~1719
In this paper, methodology of battery optimal designing is proposed. Fuel cell model including dynamic characteristic is developed and load model is produced by considering driving schedule. Using these models, required energy of load and supplying energy from fuel cell are analyzed by comparing simulation results. Also parameter of fuel cell model is changed variously and battery capacity is calculated in each cases. And methode of battery optimal designing is presented by regarding dynamic characteristic of fuel cell.
Development of Robust Algorithm to Eliminate Low Frequency Current Ripples in Fuel Cell Generation System
Kim, Jong-Soo ; Kang, Hyun-Soo ; Choe, Gyu-Yeong ; Lee, Byoung-Kuk ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1720~1727
This paper presents that generation and propagation mechanism of low frequency current ripples generated by a rectification effect of an inverter in fuel cell generation system is analyzed. The ripple reduction methode using hardware components such as capacitors and inductors is examined to reduce low frequency current ripples. A new fast and robust low frequency current ripple elimination algorithm is then proposed to incorporate a single loop current controller, which directly controls fuel cell current, without any extra hardware. The proposed algorithm can completely eliminate this current ripple as well as an overshoot or undershoot is significantly reduced. And the de link voltage and output current are well regulated by inverter controller. The validity of proposed algorithm is verified both computer simulation using PSIM 6.0 and experiment with a 1kW laboratory prototype.
Development of Simulation Model for Grid-tied Fuel-Cell Power Generation with Digital Controlled DC-DC Converter
Ju, Young-Ah ; Cha, Min-Young ; Han, Byung-Moon ; Kang, Tae-Sub ; Cha, Han-Ju ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1728~1734
This paper proposes a new power conditioning system for the fuel cell power generation, which consists of a ZVS DC-DC converter and 3-phase inverter. The ZVS DC-DC converter with a digital controller boosts the fuel cell voltage of 26-50V up to 400V, and the grid-tie inverter controls the active power delivered to the grid. The operation of proposed power conditioning system was verified through simulations with PSCAD/EMTDC software. The feasibility of hardware implementation was verified through experimental works with a laboratory prototype, which was built with 1.2kW PEM fuel-cell stack, 1kW DC-DC converter, and 3kW PWM inverter. The proposed system can be utilized to commercialize an interconnection system for the fuel-cell power generation.
Development of Air Blower for Air Management Module of PEMFC System
Hur, Jin ; Jung, In-Soung ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1735~1740
This study presents a brushless DC (BLDC) motor for air management system of fuel cell modules. Magnetic equivalent circuit model and finite element analysis are used to design the motor, and an improved structure is considered to reduce a mechanical loss induced from bearing units. Finally, air blower system combined with the motor and an impeller is manufactured and output properties, such as an air pressure and an amount of flowing air, are measured. Through the experimental results, a validity of the simulated one is confirmed.
Improvement of Output Voltage Waveforms by DC-Link Neutral Point Voltage Estimation for FSTPI
Kim, Jung-Hun ; Jo, In-Cheol ; Lee, Hong-Hee ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1741~1749
It is very important to maintain the balanced output voltage waveforms under the unbalanced DC-link voltages in the four-switch three-phase inverter(FSTPI). In this paper, the improvement of output voltage waveforms is proposed with the aid of DC-link voltage ripple estimation. The proposed method can be implemented without the additional voltage sensor. The proposed method applied to the permanent magnet synchronous motor (PMSM) is simulated and experimented in order to verify its feasibility.
Vibration Control of Flywheel Energy Storage System
Lee, Jeong-Phil ; Han, Sang-Chul ; Park, Byeong-Cheol ; Han, Young-Hee ; Park, Byung-Jun ; Jung, Se-Yong ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1750~1756
In this paper, 5 kWh class Superconductor Flywheel Energy Storage System (SFES) was constructed including motor/generator, superconductor magnetic bearing(SMB), composite rotor and electromagnetic damper(EMD) system. High speed rotation test was performed after levitating flywheel rotor only using EMD without SMB. the PD controller of EMD was designed. the control system is constructed using xPC which is real time digital control system. the results of high speed rotation test showed that proposed EMD system have sufficient damping in cylindrical mode and conical mode, and vibration of wheel was suppressed below 10
Electroconductive Ceramic Composites by Spark Plasma Sintering
Ju, Jin-Young ; Lee, Hui-Seung ; Jo, Sung-Man ; Lee, Jung-Hoon ; Kim, Cheol-Ho ; Park, Jin-Hyoung ; Shin, Yong-Deok ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1757~1763
The composites were fabricated by adding 0, 15, 20, 25[vol.%] Zirconium Diboride(hereafter,
) powders as a second phase to Silicon Carbide(hereafter, SiC) matrix. The physical, mechanical and electrical properties of electroconductive SiC ceramic composites by Spark Plasma Sintering(hereafter, SPS) were examined. Reactions between
were not observed in the XRD analysis. The relative density of mono SiC, SiC+15[vol.%]
composites are 90.93[%], 74.62[%], 74.99[%] and 72.61[%], respectively. The XRD phase analysis of the electroconductive SiC ceramic composites reveals high of SiC and
and low of
phase. The lowest flexural strength, 108.79[MPa], shown in SiC+15[vol.%]
composite and the highest - 220.15[MPa] - in SiC+20[vol.%]
composite at room temperature. The trend of the mechanical properties of the electroconductive SiC ceramic composites moves in accord with that of the relative density. The electrical resistivities of mono SiC, SiC+15[vol.%]
composites are 4.57
cm] at room temperature, respectively. The electrical resistivity of mono SiC, SiC+15[vol.%]
are Negative Temperature Coefficient Resistance(hereafter, NTCR) in temperature ranges from 25[
] to 100[
]. The declination of V-I characteristics of SiC+20[vol.%]
composite is 3.72
. It is convinced that SiC+20[vol.%]
composite by SPS can be applied for heater or electrode above 1000[
Study on Salt-Proof Characteristics of Copper Clad Aluminum
Kim, Jin-Sa ; Bae, Duck-Kweon ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1764~1768
As the demand of electric power is increasing rapidly, the need of the compact and light electric power device is also increased. Copper clad aluminum (CCA) is newly proposed electrical conductor, because of its light-weight and low-cost characteristics, to replace the existing conductor made of copper. This paper presents the salt-proof characteristics of the copper clad aluminum (CCA) to certificate long time safe operation of the newly proposed electrical conductor. The two types of the CCA conductor were tested in the neutral salt spray tester. The experimental results of two types of the CCA with salt spray were presented in this paper. The results comprise resistance measured data, micro picture of the selected surface, and component measured data according to the elapsed time. The period of the experiment was 1,000 hours. There was no evidence to show the corrosion of CCA during the whole period of the experiments.
A Study on the SPICE Model Parameter Extraction Method for the BJT DC Model
Lee, Un-Gu ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1769~1774
An algorithm for extracting the BJT DC model parameter values for SPICE model is proposed. The nonlinear optimization method for analyzing the device I-V data using the Levenberg-Marquardt algorithm is proposed and the method for calculating initial conditions of model parameters to improve the convergence characteristics is proposed. The base current and collector current obtained from the proposed method shows the root mean square error of 6.04% compared with the measured data of the PNP BJT named 2SA1980.
A Study on the Fabrication of Bi System Thick Film Using Melting Process
Lee, Sang-Heon ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1775~1777
BiSrCaCuO films were prepared on MgO single substerate at
by melt process. The films showed superconductivity above liquid nitrogen temperature (Tc= 96K). To investigate the effect of a melting temperature on the forming of the surface texturing, the samples were prepared under various temperature. The used powder was of high Tc phase. It is implies that the origin of the properties due to the heat treatment.
Evaluation of Errors Due to Earth Mutual Resistance in Measuring Ground Impedance of Vertically-driven Ground Electrode
Choi, Jong-Hyuk ; Choi, Young-Chul ; Lee, Bok-Hee ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1778~1783
Ground impedance for the large grounding system is measured according to the IEEE Standard 81.2 which is based on the revised fall-of-potential method of installing auxiliary electrode at a right angle. When the auxiliary electrodes are located at an angle of
, the ground impedance inevitably includes the error due to earth mutual resistance. In this paper, in order to accurately measure the ground impedance of vertically-driven ground electrodes, error rates due to earth mutual resistance are evaluated by ground resistance and ground impedance measuring devices and compared with calculated values. As a result, the measured results are in good agreement with the computed results considering soil layer with different resistivity. The error rates due to earth mutual resistance decrease with increasing the length of ground electrode in the case that the ratio of the distance between the ground rod to be measured and the auxiliary electrodes to the length of ground electrode(D/L) is same. The ground impedance should be measured at the minimum distance between the auxiliary electrodes that will have an estimated measurement accuracy due to earth mutual resistance.
Measurement Technology of the Dissolved Hydrogen Gas Due to Partial Discharge in Oil using Gas Sensor
Heo, Jong-Cheol ; Sun, Jong-Ho ; Kang, Dong-Sik ; Jeong, Joo-Young ; Choo, Y.B. ; Park, Jung-Hoo ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1784~1789
This paper describes the measurement technology of the dissolved hydrogen gas due to partial discharge in oil using gas sensor. For higher resolution and less error in measurement of the dissolved hydrogen gas in oil, the sensor outputs with ambient temperature which affect the sensor output characteristics should be considered. The sensor output trends with ambient temperature and the properties of the dissolved hydrogen gas in oil with partial discharge characteristic were analyzed through the test results. It was indicated that the sensor peak and the base voltage with measuring time were affected by ambient temperature and the measurement errors of the sensor output by temperature were reduced by using the difference between the peak and the base voltage rather than just the peak voltage. In addition, the hydrogen gas sensor outputs were increased with the increase of partial discharge energy.
Numerical Experiments using Efficient FMM for the EM Scattering by Underground Object
Kim, Sung-Hwan ; Ahn, Chang-Hoi ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1790~1795
For GPR(Ground Penetrating Radar) applications, an accurate analysis of the scattered field is necessary to identify the unknown target. Dyadic Green's function of the multilayered medium is developed and applied to analysis of the underground conducting object. We used method of moment(MOM) with dyadic Green's function, and Discrete Complex Image Method(DCIM). To reduce the computational complexity, fast multipole method is introduced and we showed the accuracy of the method comparing with the conventional method of moment. For investigating the underground conducting target, several numerical experiments were accomplished using this method.
Filtering for Uncertain Descriptor Systems with Time-varying Delay
Kim, Jong-Hae ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1796~1801
This paper is concerned with the problem of delay-dependent robust
filtering for uncertain descriptor systems with time-varying delay. The considering uncertainty is convex compact set of polytoic type. The purpose is the design of a linear filter such that the resulting filtering error descriptor system is regular, impulse-free, and asymptotically stable with
norm bound. By establishing a finite sum inequality based on quadratic terms, a new delay-dependent bounded real lemma (BRL) for delayed descriptor systems is derived. Based on the derived BRL, a robust
filter is designed in terms of linear matrix inequaltity (LMI). Numerical examples are given to illustrate the effectiveness of the proposed method.
A Fault Detection Isolation and Compensation Scheme using Finite-time Fault Detection Observers
Lee, Kee-Sang ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1802~1808
A fault detection observer with finite time convergence characteristics(FT_FDO) is proposed and applied to a fault detection isolation system for a dynamic control system. The FT_FDO is a kind of dual state-observer scheme that provides with the state estimates insensitive to a specified fault and the corresponding fault estimate. The state estimates are processed to get the residual that will be logically compared with other residuals to detect and isolate the fault of interest, and the fault estimate may be used for fault compensation. The FDIS employing the FT_FDOs can be considered to be a multiple observer schemes(MOS) in which FT_FDOs are parallelly driven to generate a set of residuals to be compared each other. Due to the finite time convergence characteristics of the FT_FDO, the predetermined detection delay can be considered in the design stage of FDIS so that any fault of interest can be detected and identified in that time. It evidently resolves a well known difficulty of threshold selection owing to the transient responses of the fault detection observers(FDO) employed in FDIS. An FDIS is constructed for instruments(2-sensor, 1-actuator) in an inverted pendulum control system, and simulations are performed to show the performance of the FDIS and fault tolerant control system.
New Delay-dependent Stability Criterion for Neural Networks with Discrete and Distributed Time-varying Delays
Park, Myeong-Jin ; Kwon, Oh-Min ; Park, Ju-Hyun ; Lee, Sang-Moon ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1809~1814
In this paper, the problem of stability analysis for neural networks with discrete and distributed time-varying delays is considered. By constructing a new Lyapunov functional, a new delay-dependent stability criterion for the network is established in terms of LMIs (linear matrix inequalities) which can be easily solved by various convex optimization algorithms. Two numerical example are included to show the effectiveness of proposed criterion.
A Brief Survey of Finite Element Method in Control Engineering Field
Jang, Yu-Jin ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1815~1820
The FEM(Finite Element Method) is widely adopted numerical technique for finding approximate solutions of various engineering problems in which partial differential equations (PDEs) are involved. Although the original purpose of the FEM is focused on numerical analysis itself due to its heavy computation time, this method has been adopted into control engineering field during the last decade to improve product or system performance. In this paper, this trend is briefly introduced.
Direct Adaptive Neural Control of Perturbed Strict-feedback Nonlinear Systems
Park, Jang-Hyun ; Kim, Seong-Hwan ; Yoo, Young-Jae ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1821~1826
An adaptive neural controller for perturbed strict-feedback nonlinear system is proposed. All the previous adaptive neural (or fuzzy) controllers are based on the backstepping scheme where the universal approximators are employed in every design steps. These schemes involve virtual controls and their time derivatives that make the stability analysis and implementation of the controller very complex. This fact is called 'explosion of complexty ' since the complexity grows exponentially as the system dynamic order increases. The proposed adaptive neural control scheme adopt the backstepping design procedure only for determining ideal control law and employ only one neural network to approximate the finally selected ideal controller, which makes the controller design procedure and stability analysis considerably simple compared to the previously proposed controllers. It is shown that all the time-varing signals containing tracking error are stable in the Lyapunov viewpoint.
Polynomial Fuzzy Modelling and Trajectory Tracking Control of Wheeled Mobile Robots with Input Constraint
Kim, Cheol-Joong ; Chwa, Dong-Kyoung ; Oh, Seong-Keun ; Hong, Suk-Kyo ;
The Transactions of The Korean Institute of Electrical Engineers, volume 58, issue 9, 2009, Pages 1827~1833
This paper deals with the trajectory tracking control of wheeled mobile robots with input constraint. The proposed method converts the trajectory tracking problem to the system stability problem using the control inputs composed of feedforward and feedback terms, and then, by using Taylor series, nonlinear terms in origin system are transformed into polynomial equations. The composed system model can make it possible to obtain the control inputs using numerical tool named as SOSTOOL. From the simulation results, the mobile robot can track the reference trajectory well and can have faster convergence rate of the trajectory errors than the existing nonlinear control method. By using the proposed method, we can easily obtain the control input for nonlinear systems with input constraint.