Go to the main menu
Skip to content
Go to bottom
REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
> Journal Vol & Issue
Journal of Institute of Control, Robotics and Systems
Journal Basic Information
Journal DOI :
Institute of Control, Robotics and Systems
Editor in Chief :
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
Adaptive control of overmodeled linear time-invariant discrete systems
Yang, Hyun-Suk ; Lee, Ho-Shin ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 67~72
This paper presents a parameter adaptive control law that stabilizes and asymptotically regulates any single-input, linear time-invariant, controllable and observable, discrete-time system when only the upper bounds on the order of the system is given. The algorithm presented in this paper comprises basically a nonlinear state feedback law which is represented by functions of the state vector in the controllable subspace of the model, an adaptive identifier of plant parameters which uses inputs and outputs of a certain length, and an adaptive law for feedback gain adjustment. A new psedu-inverse algorithm is used for the adaptive feedback gain adjustment rather than a least-square algorithm. The proposed feedback law results in not only uniform boundedness of the state vector to zero. The superiority of the proposed algorithm over other algorithms is shown through some examples.
Stabilization for multirate sampled-data control systems
Lee, Sang-Jeong ; Kim, Young-Baek ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 73~80
This paper proposes a stabilizing controller for the multirate sampled-data systems which have a periodic output measurement scheme. A sufficient condition for maintaining observability in the multirate sampled-data system is derived and a design strategy for disturbance rejection is proposed. The proposed controller has IMC structure, and can be decomposed into the disturbance estimator and the inverse of the fast uniform sampled plant. We assume that the plant is open-loop stable and the disturbance consists of a sum of finite number of sinusoids with different frequencies. An example is presented for illustrations.
Engine torque and engine/automatic trandmission speed control systems using time delay control
Song, Jae-Bok ; Lee, Seung-Man ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 81~87
Time delay control(TDC) law has been recently suggested as an effective control technique for nonlinear time-varying systems with uncertain dynamics and/or unpredictable disturbances. This paper focuses on the applications of the TDC algorithm to torque control of an engine system and speed control of an engine/automatic transmission system. Through the stability analysis of the engien system based on TDC, determination of the appropriate time delay and control factor is investigated. It was revealed that the size of time delay of the TDC law should be greater than that of transport delay of the system for both stability and better control performance. Simulation and experimental results for the engine torque control and engine/automatic transmission speed control systems show both relatively good command following and disturbance rejection properties. However, TDC controller shows rather slow responses when applied to the system with large transport delay.
Decentralized control of interconnected systems using a neuro-coordinator and an application to a planar robot manipulator
Chung, Chung, Hee-Tae ; Jeon, Jeon, Gi-Joon ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 88~95
It is inevitable for local systems to have deviations which represent interactions and modeling errors originated from the decomposition process of a large scale system. This paper presents a decentralized control scheme for interconnected systems using local linear models and a neuro-coordinator. In the proposed method, the local system is composed of a linear model and unknown deviations caused by linearizing the subsystems around operating points or by estimating parameters of the subsystems. Because the local system has unmeasurable deviations we define a local reference model which consists of a local linear model and a neural network to estimate the deviations indirectly. The reference model is reformed into a linear model which has no deviations through a transformation of input variables and we obtain an optimum feedback control law which minimizes a local performance index. Finally, we derive a decentralized feedback control law which consists of local linear states and neural network outputs. In the decentralized control, the neuro-coordinator generates a corrective control signal to cancel the effect of deviations through backpropagation learning with the errors obtained from the differences of the local system outputs and reference model outputs. Also, the stability of local system is proved by the degree of learning of the neural network under an assumption on a neural network learning index. It is shown by computer simulations that the proposed control scheme can be applied successfully to the control of a biased two-link planar robot manipulator.
A study on design of a fuzzy controller and a simulator for development of controller for reducing vibration in overhead crane
Jeong, kyung-Chae ; Hong, Jin-Cheol ; Bae, Jin-Ho ; Lee, Dal-Hae ; Lee, Suck-Gyu ; Lee, Hai-Young ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 96~101
In this paper, a simulator is designed along with S/W package for crane controllers. Due to trolley's acceleration or deceleration, cranes inherently cause swing motion of the objects in transporting heavy objects. This swing not only deteriorates the crane handling safety but also increases the processing time. To overcome these drawbacks, the fuzzy rule-based simulator is developed with inhibitory swing at final action. The computer simulation shows that the swing at initial and final positions is removed fast with small position error. The proposed simulator can be used for handling object stabley and the study of effectiveness in unmanned operation of cranes.
Analysis of control characteristics for high speed rolling guided missile with one axis steering fin
Chin, Jong-Sok ; Lee, Jae-Hyuk ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 102~107
It is difficult to analyze the high speed rolling missile with the generally used missile body fixed coordinates. In this study, we formulate the dynamic equations of the high speed rolling missile with the principal axis of inertia, and make the analytical model of one axis steering missile using pitch/yaw symmetry and complex summation method. With this model we analyze the control characteristics and propose the design considerations of high speed rolling missile with one axis control fin using PNG law in conjuntion with a seeker signal.
The dynamics of self-organizing feature map with constant learning rate and binary reinforcement function
Seok, Jin-Uk ; Jo, Seong-Won ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 108~114
We present proofs of the stability and convergence of Self-organizing feature map (SOFM) neural network with time-invarient learning rate and binary reinforcement function. One of the major problems in Self-organizing feature map neural network concerns with learning rate-"Kalman Filter" gain in stochsatic control field which is monotone decreasing function and converges to 0 for satisfying minimum variance property. In this paper, we show that the stability and convergence of Self-organizing feature map neural network with time-invariant learning rate. The analysis of the proposed algorithm shows that the stability and convergence is guranteed with exponentially stable and weak convergence properties as well.s as well.
Speed control of AC servo system using a sliding control techniques
Lee, Je-Hie ; Huh, Uk-Youl ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 115~120
In this paper, a sliding mode controller which is characterized by high accuracy, fast response and robustness is applied to speed control of AC-SERVO motor. The control input is changed to the continuous one in the boundary layer to reduce the chattering phenomenon, and the boundary layer converges to zero when the state variables of system reach to steady state values. The integral compensator is added to reduce steady state error and to provide the continuous torque reference. The acceleration which is necessary for the sliding plane is estimated by an obsever. Sliding surface is included in control input to enhance the robustness and transient response without increasing sliding mode controller gain. The proposed controller is implemented by DSP(digital signal processor). The effectiveness of the proposed scheme is demonstrated through experimental works.
A study on the hydrodynamic coefficients estimation of an underwater vehicle
Yang, Seung-Yun ; Lee, Man-Hyung ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 121~126
The hydrodynamic coefficients estimation (HCE) is important to design the autopilot and to predict the maneuverability of an underwater vehicle. In this paper, a system identification is proposed for an HCE of an underwater vehicle. First, we attempt to design the HCE algorithm which is insensitive to initial conditions and has good convergence, and which enables the estimation of the coefficents by using measured displacements only. Second, the sensor and measurement system which gauges the data from the full scale trials is constructed and the data smoothing algorithm is also designed to filter the noise due to irregular fluid flow without changing the data characteristics itself. Lastly the hydrodynamic coefficients are estimated by applying the measured data of full scale trials to the developed algorithm, and the estimated coefficients are verified by full scale trials.
Object-oriented programming and automotive powersystem
Jeong, Byeong-Yong ; Cho, Dong-Il ;
Journal of Institute of Control, Robotics and Systems, volume 2, issue 2, 1996, Pages 127~133
This paper represents a new powertrain simulation methodology using the object-oriented programming paradigm. The advantage of the object-oriented is the module interchangeability and simulation flexibility. Powertrain subsystems and controller modules are implemented using the MEX files in MATLAB Simulink in this paper, preserving module interchangeability. Currently, the required CPU time on a 75MHz Pentium PC is about three times the real time. It is anticipated that the "Automotive Powersystem Toolbox" being developed in this research would be of much utility in designing subsystem controllers as well as in designing subsystem mechanicals.chanicals.