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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 13, Issue 12 - Dec 2007
Volume 13, Issue 11 - Nov 2007
Volume 13, Issue 10 - Oct 2007
Volume 13, Issue 9 - Sep 2007
Volume 13, Issue 8 - Aug 2007
Volume 13, Issue 7 - Jul 2007
Volume 13, Issue 6 - Jun 2007
Volume 13, Issue 5 - May 2007
Volume 13, Issue 4 - Apr 2007
Volume 13, Issue 3 - Mar 2007
Volume 13, Issue 2 - Feb 2007
Volume 13, Issue 1 - Jan 2007
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Nonlinear Input-Output Feedback Linearizing Control of a Single Machine Infinite Bus Power System
Kim, Dong-Gun ; Kim, Seok-Kyoon ; Yoon, Tae-Woong ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 1~5
DOI : 10.5302/J.ICROS.2007.13.1.001
Many nonlinear controllers for the power system are based on nonlinear models involving the power angle as an element of the state, and therefore the reference value for the power angle is needed. As this reference value is not generally available, it is difficult to apply such nonlinear control methods in practice. To deal with this problem, we present an input-output feedback linearizing control scheme by selecting the output as a combination of the squared voltage and the relative frequency. It is shown that the internal dynamics are locally stable with controllable damping, and that the frequency remains bounded for all time. Simulations illustrate the effectiveness of the proposed method.
A Study on the Design and Validation of Automatic Pitch Rocker for the Aircraft Deep Stall Recovery
Hahn, Seong-Ho ; Hwang, Byung-Moon ; Lee, Young-Ho ; Lee, Dong-Kyu ; Ahn, Sung-Jun ; Kim, Chong-Sup ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 6~14
DOI : 10.5302/J.ICROS.2007.13.1.006
Modem version of supersonic jet fighter aircraft must have been guaranteed appropriate controllability and stability in HAoA(High Angle of Attack). Limit value of aircraft entering into the departure in HAoA is related to aircraft configuration design. But, the control law such as AoA and yaw-rate limiter is implemented in digital Fly-By-Wire flight control system of supersonic jet fighter to guarantee the aircraft`s safety in HAoA. The HAoA flight control law have two parts, one is control law of departure prevention and the other is control law of departure recovery support. The control laws of departure prevention for advanced jet trainer consist AoA limiter, roll command limiter and rudder fader. The control laws of departure recovery support are consist yaw-rate limiter and MPO(Manual Pitch Override) mode. The guideline of pitch rocking using MPO mode is simple, but operating skill of pitch rocking is very difficult by the pilot with inexperience of departure situation. This paper addresses the design and validation of APR(Automatic Pitch Rocker) control law instead of MPO in order to automatic recovery without manual pitch rocking by the pilot. And, recovery characteristic with APR verifies by the nonlinear analysis and pilot evaluation.
Static Output Feedback Sliding Mode Control Design for Linear Systems with Mismatched Uncertainties
Choi, Han-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 15~18
DOI : 10.5302/J.ICROS.2007.13.1.015
We consider the problem of designing a static output feedback sliding mode control law for linear dynamical systems with mismatched uncertainties in the state matrix. We assume that an output dependent sliding surface guaranteeing the quadratic stability of the sliding mode dynamics is given, the reachability condition is not required to be satisfied globally, and the output feedback sliding mode control law complises both linear and discontinuous parts. We reduce the problem of designing the linear part of the sliding mode control law to a simple LMI problem which offers design flexibility for combining various useful convex design specifications. Our approach does not require state transformation and it can be applied to mismatched uncertain systems.
Implementation of the Mass Flow Controller using Adaptive PID
Baek, Kwang-Ryul ; Cho, Bong-Su ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 19~25
DOI : 10.5302/J.ICROS.2007.13.1.019
The MFC(Mass Flow Controller) is an equipment that measures and controls mass flow rates of fluid. Most of the HFC system is still using the PID algorithm. The PID algorithm shows superior performance on the MFC system. But the PID algorithm in the MFC system has a few problems as followed. The characteristic of the MFC system is changed according to the operating environment. And, when the piezo valve that uses the control valve is assembled in the MFC system, a coupling error is generated. Therefore, it is very difficult to find out the exact parameters of MFC system. In this paper, we propose adaptive PID algorithm in order to compensate these problems of a traditional PID algorithm. The adaptive PID algorithm estimates the parameters of MFC system using LMS(Least Mean Square) algorithm and calculates the coefficients of PID controller. Besides, adaptive PID algorithm shows better transient response because adaptive PID algorithm includes a feedforward. And we implement MFC system using proposed adaptive PID algorithm with self-tuning and Ziegler and Nickels`s method. Finally, comparative analysis of the proposed adaptive PID and the traditional PID is shown.
A Study on the Tracking Control of a Transfer Crane : Observer Design and Experimental Study
Choe, Mun-Seok ; Suh, Jin-Ho ; Lee, Kwon-Soon ; Kim, Young-Bok ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 26~32
DOI : 10.5302/J.ICROS.2007.13.1.026
The most important thing in the container terminal is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990`s, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. In this paper, the system modelling and a tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servosystem design approach to obtain the informations of the states. The experiment results show the usefulness of the designed control system.
Design of Embedded EPGA for Controlling Humanoid Robot Arms Using Exoskeleton Motion Capture System
Lee, Woon-Kyu ; Jung, Seul ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 33~38
DOI : 10.5302/J.ICROS.2007.13.1.033
In this paper, hardware implementation of interface and control between two robots, the master and the slave robot, are designed. The master robot is the motion capturing device that captures motions of the human operator who wears it. The slave robot is the corresponding humanoid robot arms. Captured motions from the master robot are transferred to the slave robot to follow after the master. All hardware designs such as PID controllers, communications between the master robot, encoder counters, and PWM generators are embedded on a single FPGA chip. Experimental studies are conducted to demonstrate the performance of the FPGA controller design.
Automatic Landing System using a Trajectory of Laser Beam
Hwang, Jin-Ah ; Nam, Gi-Gun ; Lee, Jang-Myung ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 39~45
DOI : 10.5302/J.ICROS.2007.13.1.039
This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives at the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. The relative position information between the spreader and a container using the laser range finder and tilt sensor is estimated through the geometrical analysis.
A Study on Data Clustering Method Using Local Probability
Son, Chang-Ho ; Choi, Won-Ho ; Lee, Jae-Kook ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 46~51
DOI : 10.5302/J.ICROS.2007.13.1.046
In this paper, we propose a new data clustering method using local probability and hypothesis theory. To cluster the test data set we analyze the local area of the test data set using local probability distribution and decide the candidate class of the data set using mean standard deviation and variance etc. To decide each class of the test data, statistical hypothesis theory is applied to the decided candidate class of the test data set. For evaluating, the proposed classification method is compared to the conventional fuzzy c-mean method, k-means algorithm and Discriminator analysis algorithm. The simulation results show more accuracy than results of fuzzy c-mean method, k-means algorithm and Discriminator analysis algorithm.
Stereo Matching Method using Directional Feature Vector
Moon, Chang-Gi ; Jeon, Jong-Hyun ; Ye, Chul-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 52~57
DOI : 10.5302/J.ICROS.2007.13.1.052
In this paper we proposed multi-directional matching windows combined by multi-dimensional feature vector matching, which uses not only intensity values but also multiple feature values, such as variance, first and second derivative of pixels. Multi-dimensional feature vector matching has the advantage of compensating the drawbacks of area-based stereo matching using one feature value, such as intensity. We define matching cost of a pixel by the minimum value among eight multi-dimensional feature vector distances of the pixels expanded in eight directions having the interval of 45 degrees. As best stereo matches, we determine the two points with the minimum matching cost within the disparity range. In the experiment we used aerial imagery and IKONOS satellite imagery and obtained more accurate matching results than that of conventional matching method.
Experimental Studies of a Time-delayed Controller to Stabilize Image Stabilization System
Park, Ju-Kwang ; Bae, Young-Gul ; Jung, Seul ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 58~64
DOI : 10.5302/J.ICROS.2007.13.1.058
In this paper, the stabilization problem of the image stabilization system(ISS) that captures the image of an object on the ground by remote sensing is considered. The ISS should be stable under outer disturbance such as helicopter vibration for tracking line of sight. Although PID controllers are optimized for the system, disturbances cause the instability of the system. To minimize the effect of the disturbance, the time-delayed control method is used to compensate for uncertainties. Simulation studies are performed and experiments are conducted to confirm the simulation results. Performances of PID control and time-delayed control methods are compared.
Seamless Switching in the Implementation of the Adjustable Autonomy of Human-Robot Teams
Cho, Hye-Kyung ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 65~71
DOI : 10.5302/J.ICROS.2007.13.1.065
Adjustable autonomy architecture provides various ways for a human operator to participate as a member of a human-robot team in improving the performance of the team by resolving issues that the robots cannot deal with or performing tasks that the robots alone would unable to do. According to the level of involvement of the human operator, the robots have to adjust their level of autonomy and, in consequence, the operation mode of the overall system shifts. This paper deals with the implementation issues of seamless switching when the level of autonomy of the human-robot team shifts from one level to another. Especially, we focus on developing reliable methods for monitoring the task progress and maximizing the system flexibility by coping with the detailed differences between humans and robots in their characteristics of motions and their choices of positions, paths, and sequences of sub-goals to achieve a given task. To test and motivate the proposed methods, we have assembled three heterogeneous robots which work together to dock both ends of a suspended beam into stanchions.
Determination of Local Vortical in Celestial Navigation Systems
Suk, Byong-Suk ; Lyou, Joon ;
Journal of Institute of Control, Robotics and Systems, volume 13, issue 1, 2007, Pages 72~78
DOI : 10.5302/J.ICROS.2007.13.1.072
Determination of the local vertical is not trivial for a moving vehicle and in general will require corrections for the Earth geophysical deflection. The vehicle`s local vertical can be estimated by INS integration with initial alignment in SDINS(Strap Down INS) system. In general, the INS has drift error and it cause the performance degradation. In order to compensate the drift error, GPS/INS augmented system is widely used. And in the event that GPS is denied or unavailable, celestial navigation using star tracker can be a backup navigation system especially for the military purpose. In this celestial navigation system, the vehicle`s position determination can be achieved using more than two star trackers, and the accuracy of position highly depends on accuracy of local vertical direction. Modern tilt sensors or accelerometers are sensitive to the direction of gravity to arc second(or better) precision. The local gravity provides the direction orthogonal to the geoid and, appropriately corrected, toward the center of the Earth. In this paper the relationship between direction of center of the Earth and actual gravity direction caused by geophysical deflection was analyzed by using precision orbit simulation program embedded the JGM-3 geoid model. And the result was verified and evaluated with mathematical gravity vector model derived from gravitational potential of the Earth. And also for application purpose, the performance variation of pure INS navigation system was analyzed by applying precise gravity model.