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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
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Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 1, Issue 2 - Dec 1995
Volume 1, Issue 1 - Sep 1995
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Note on behavior of a coupled nonautonoumous ordinary differential equation
Hong, Keum-Shik ; Han, Myung-Chul ; Lee, Seok ; Yun, Jung-Seon ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 1~3
A concurrent eigenstructure assignment method by state feedback
Choi, Jae-Weon ; Lee, Jang-Gyu ; Kim, You-Dan ; Gang, Tae-Sam ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 4~12
In the sense of eigenstructure (eigenvalues/eignenvectors) assignment, the effectiveness and disturbance suppressibility of a controller depend mainly on the left eigenstructure (eignevalues/left eigenvectors) of a system. On the other hand, the disturbance decouplability is governed by the right eigenstructure (eignevalues/right eigenvectors) of the system. In this paper, in order to obtain a disturbance decouplable as well as effetive and disturbance suppressible controller, a concurrent assignment methodology of the left and right eigenstructure is proposed. The biorthogonality condition between the left and right modal matrix and state selection matrices are used to develop the methodology. The proposed concurrent eigenstructure assignment methodology guarantees that the desired eigenvalues are achieved exactly and the desired left and right eigenvectors are assigned to the best possible (achievable) sets of eigenvectors in the least square sense, respectively. A numerical example is presented to illustrate the validity and usefulness of the proposed methodology.
Robust pole placement condition using generalized singular value
Lee, Jun-Hwa ; Gwon, Uk-Hyeon ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 13~19
In this paper, generalized singular value is defined. Using the generalized singular value, robust stability conditions and robust pole placement conditions of structured uncertain systems with star shaped uncertainties are derived. Especially, norm bounded and polytopic uncertainty regions are considered as star shaped uncertainty regions. Linear matrix inequality problems are proposed in order to compute the upper bound of the generalized singular value. The proposed linear matrix inequality problems can be solved by using the convex optimization method.
Performance bounds of continuous-time optimal FIR filter under modeling uncertainty
Yoo, Kyung-Sang ; Gwon, O-Gyu ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 20~24
In this paper we analyze the performance bounds of the optimal FIR filter in continuous time systems with modeling uncertainty. The performance bounds are presented by the estimation error convariance and they are here expressed by the upper bounds of the difference of the estimation error covariance between the real and nominal values in case of the system with model uncertainties whose upper bounds are imperfrctly known a priori. The performance bounds of the optimal FIR filter are compared with those of the Kalman filter via a numerical example applied to the estimation of the motion of an aircraft carrier at sea, which shows the former has better performances than the latter.
A fuzzy sliding mode controller design for the hovering system of underwater vehicles
Kim, Jong-Sik ; Kim, Sung-Min ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 25~32
Nonlinear depth control algorithms for the hovering system of underwater vehicles are presented. In this paper, a nonlinear effect in heave motion for underwater vehicles, a deadzone effect of the flow control valve in the hovering tank and an impact disturbance are considered. In this situation, in order to choose a desirable controller, sliding mode controller and fuzzy sliding mode controller are designed and compared. The computer simulation results show that the fuzzy sliding mode control system is more suitable in order to maintain a desirable depth of an underwater vehicle with a deadzone and impact disturbance.
Weight modification of recurrent neural network by decorrelation
Lee, Jong-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 33~37
A target scoring technique using acoustic sensors
Choi, Ju-Ho ; Kim, Yun-Gyeom ; Yu, Jun ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 38~42
This paper presents a target scoring method using shock wave signals, which are generated from the supersonic speed of a projectile. The shock wave is detected from three acoustic sensors located in the target plane and the difference of the delay times are measured. The target coordinates are calculated from the effective propagation of velocity (EPV) and the delay times of the shock wave; and the EPV is from the projectile velocity and the delay time. With a comparison between the measurement result and the known coordinates, the accuracy and the usefulness of the proposed scheme is validated.
A sensor fusion method on local homing robot navigation using omnidirectional sensor-based model and fuzzy arithmetic
Bang, Seok-Won ; Jeong, Myeong-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 43~49
Development of robot control system using DSP
Lee, Bo-Hee ; Kim, Jin-Geol ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 50~57
In this paper, the design and the implementation of the controller for an articulate robot, which is developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies structures by the time-division control with TMS320C31 DSP chip. The method of control is based on the fuzzy-compensated PID control with scale factor, which compensates for the influence of load variation resulting from the various postures of the robot with conventional PID scheme. The application of the proposed controller to the robot system with DC servo-motors shows some excellent control capabilities. Also, the response characteristics of system for the various trajectory commands verify the superiority of the controller.
A control and measurement system design for 3-axis pressure and 2-axis displacement on tire road interface
Lim, Young-Cheol ; Ryoo, Young-Jae ; Cho, Gyu-Jong ; Kim, Nam-Jeon ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 58~62
Necessarily, it is required to analyze interfacial mechanism between tire and road for understanding tire wear, vehicle tracking and breaking. Therefore, there have been some efforts to measure 3-axis pressure and 2-axis displacement on tire road interface. But it was so hard to couple precisely measuring sensor and desired point on tire tread pattern block that it was impossible to analyze the mechanism on commercial tire with tread pattern. To overcome such a problem, a on-line measurement system is proposed in this paper. And an automatic control system is designed to test the tire with similar configuration of real vehicle driving.
Design of a hybrid fuzzy controller with the optimal auto-tuning method
Oh, Sung-Kwun ; Ahn, Tae-Chon ; Hwang, Hyung-Soo ; Park, Jong-Jin ; U, Gwang-Bang ;
Journal of Institute of Control, Robotics and Systems, volume 1, issue 1, 1995, Pages 63~70