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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 2, Issue 4 - Dec 1996
Volume 2, Issue 3 - Sep 1996
Volume 2, Issue 2 - Jun 1996
Volume 2, Issue 1 - Mar 1996
Selecting the target year
Controller Design for Linear Systems with Time-delays
Jeong, Eun-Tae ; Lee, Gap-Rae ; Lee, Jae-Myeong ; Park, Hong-Bae ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 1~4
This paper presents a state feedback
controller design method for linear systems with delayed states and inputs. We derive a sufficient condition that the closed-loop system is asymptotically stable for all time-delays and that the
-norm of the closed-loop transfer function is less than or equal to some prescribed level
. And we propose a sufficient condition for the existence of a state feedback
controller using a form of linear matrix inequality(LMI). Furthermore, we show that the state feedback
controllers can be obtained from solutions satisfying LMI.
On a configuration of the improved robust adaptive control systems
Lee, Sun-Yeong ; Choe, Jae-Seok ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 5~8
This paper proposea a new adaptive algorithm to improve the performance fo a robust adaptive control system. This adaptive algorithm counteracts the effects of disturbances and makes the time derivative of Lyapunov function non-positive,
. As a result, the output error approaches zero as
not only in the presence of bounded disturbances, but also in the ideal case. The effectiveness of this proposed algorithm is demonstrated by the stability analysis and simulation results.
Design of a new sliding mode controller for uncertain multivariable systems using continuous-time switching dynamics
Kim, Kim, Dong-Sik ; Seo, Seo, Ho-Joon ; Seo, Seo, Sam-Jun ; Park, Park, Gwi-Tae ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 9~13
A self tuning PID controller with minimum variance
Jo, Won-Cheol ; Jeon, Gi-Jun ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 14~20
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.
A on-line learning algorithm for recurrent neural networks using variational method
Oh, Oh, Won-Geun ; Suh, Suh, Byung-Suhl ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 21~25
In this paper we suggest a general purpose RNN training algorithm which is derived on the optimal control concepts and variational methods. First, learning is regared as an optimal control problem, then using the variational methods we obtain optimal weights which are given by a two-point boundary-value problem. Finally, the modified gradient descent algorithm is applied to RNN for on-line training. This algorithm is intended to be used on learning complex dynamic mappings between time varing I/O data. It is useful for nonlinear control, identification, and signal processing application of RNN because its storage requirement is not high and on-line learning is possible. Simulation results for a nonlinear plant identification are illustrated.
A visual inspection algorithm for detecting infinitesimal surface defects by using dominant frequency map
Kim, Kim, Sang-Won ; Kweon, Kweon, In-So ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 26~34
One of the challenging tasks in visual inspection using CCD camera is to identify surface defects in an image with complex textured backgeound. In microscopic view, the surface of real objects shows regular or random textured patterns. In this paper, we present a visual inspection algorithm to extract abnormal surface defects in an image with textured background. The algorithm uses the space and frequency information at the same time by introducing the Dominant Frequency Map(DFM) which can describe the frequency characteristics of every small local region of an input image. We demonstrate the feasibility and effectiveness of the method through a series of real experiments for a 14" TV CRT mold. The method successfully identifies a variety of infinitesimal defects, whose size is larger than
, of the mold. The experimental results show that the DFM based method is less sensitive to the environmental changes, such as illumination and defocusing, than conventional vision techniques.ques.
Robust Controller Design using SSV (
) for Teleoperated Robot System with Time-Delay
Jeong, Kyu-Won ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 35~44
A design method for a teleoperator robot system is presented in this paper. The control system consists of two phases; approach phase and contact one. The end-effector position of the estimated slave robot and the contact force between the end-effector and wall are displayed on the monitors at control site, using which the operator controls the teleoperator system. The approach phase controller is designed using Smith's principle and the contact one designed based upon the structured singular value
in order to increase the robustness of the system. The uncertainatices such as communication time delay and the variations of system parameters are considered as a muliplicative pertubation. Computer simulations are conducted in order to evaluate the performance of the proposed design method. It is found that desirable control performance, especially in the contact phase, is obtained if the control mode is switched into contact phase when the estimated position of the slave robot end-effector is in front of the wall.
Kinematic/dynamic optimal design of a Stewart Platform mechanism
Yi, Byung-Ju ; Kim, Whee-Kuk ; Huh, Kum-Kang ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 45~52
This work deals with the kinematic and dynamic optimal design of a six degree-of-freedom Stewart Platform mechanism, which is actuated by six prismatic cylinfers. Composite design index is employed to deal with multi-criteria based design in a systematic manner, and a sequential design method is suggested, in which the results from the kinematic optimization are employed in the following dynamic optimization.
Development of PLC modules for the safety verification of chemical processes
Jeong, Jeong, Sang-Hun ; Lee, Lee, Kwang-Soon ; Moon, Moon, Il ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 53~59
An automatic verification method has been studied to determine the safety and operability of programmable logic controller (PLC) based systems. For the systematic and efficient verification, we have developed a conversion method from relay ladder logic (RLL) to the verification system description. RLL is a common representation used to document PLC programs for the sequential logic of the system such as the safety interlocks and the startup/shutdown procedures. Once the modules are developed, complex RLLs can be represented by the combination of modules. As a result we can verify complex PLC systems using the verification method including RLL modules. The developed modules are used to verify alarm systems and show that the method is valid.
Application of adaptive controller using receding-horizon predictive control strategy to the electric furnace
Kim, Jin-Hwan ; Huh, Uk-Yeol ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 1, 1996, Pages 60~66
Model Based Predictive Control(MBPC) has been widely used in predictive control since 80's. GPC which is the superset of many MBPC strategies a popular method, but GPC has some weakness, such as insufficient stability analysis, non-applicability to internally unstable systems. However, CRHPC proposed in 1991 overcomes the above limitations. So we chose RHPC based on CRHPC for electric furnace control. An electric furnace which has nonlinear properties and large time delay is difficult to control by linear controller because it needs nearly perfect modelling and optimal gain in case of PID. As a result, those controls are very time-consuming. In this paper, we applied RHPC with equality constraint to electric furnace. The reults of experiments also include the case of RHPC with monotonic weighting improving the transient response and including unmodelled dynamics. So, This paper proved the practical aspect of RHPC for real processes.