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 3, Issue 6 - Dec 1997
Volume 3, Issue 5 - Oct 1997
Volume 3, Issue 4 - Aug 1997
Volume 3, Issue 3 - Jun 1997
Volume 3, Issue 2 - Apr 1997
Volume 3, Issue 1 - Feb 1997
Selecting the target year
controller design for linear systems with delayed state
Jeong, Eun-Tae ; Oh, Do-Chang ; Park, Hong-Bae ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 109~114
In this paper, we present an output feedback
controller design method and derive the sufficient condition of the bounded real lemma for linear systems with multiple delays in states. For state delayed systems, sufficient conditions for the existence
controllers are given in terms of three linear matrix inequalities(LMIs). Furthermore, we show how to construct such controllers from the positive definite solutions of their LMIs and given an example to illustrate the validitiy of the proosed design procedure.
Design of a Discrete-Time
Controller with Preview Action
Choi, Jin-Tae ; Kim, Jong-Shik ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 115~123
A modified adaptive control method for improving transient performance
Seo, Won-Gi ; Lee, Jin-Soo ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 124~131
This paper presents a modified adaptive control scheme that improves the transient performance of the overall system while maintaining the asymptotic convergence of the output error. The proposed control scheme is characterized as the added outer dynamic feedback loop on the conventional adaptive control scheme. This control scheme enables various robust control methods that were developed for standard model reference adaptive controllers to be applied to the proposed controller. In contrast with the modified adaptive controllers that use augmented errors to provide additional dynamic feedback, the proposed controller uses tracking error directly, thereby reducing the tracking error significantly in the transient state and making the error insensitive to noise.
Sway Control of c Container Crane (Part II): Regulation of the Pendulum Sway through Patternizing Trolley Moving Velocity
Hong, Keum-Shik ; Sohn, Sung-Chull ; Lee, Man-Hyung ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 132~138
Six different types of velocity profiles of trolley movement of a container crane are investigated for the minimal sway angle at the target trolley position. Three velocity patterns which include trapezoidal, stepped and notched-type velocity patterns are obtained assuming constant rope length. The notched type velocity pattern is shown to be derived from the time-optimal bang-bang control. The stepped type velocity pattern can be shown to be derived as bang-off bang control as well. Considering the damping effect due to hoist motion a double stage acceleration pattern is also analyzed. The main objective of the paper is to show how much time-reduction can be obtained among several velocity patterns appearing in the literature.
Neuro-controller design for the line of sight stabilization system containing nonlinear friction
Jang, Jun-Oh ; Jeon, Byung-Gyoon ; Jeon, Gi-Joon ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 139~148
An adaptive controller with fuzzy compensator for nonlinear time-varying systems
Park, Geo-Dong ; Jeon, Wan-Su ; Kim, Jong-Hwa ; Lee, Man-Hyeong ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 149~155
An optimal and genetic route search algorithm for intelligent route guidance system
Choe, Gyoo-Seok ; Woo, Kwang-Bang ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 156~161
In this thesis, based on Genetic Algorithm, a new route search algorithm is presented to search an optimal route between the origin and the destination in intelligent route guidance systems in order to minimize the route traveling time. The proposed algorithm is effectively employed to complex road networks which have diverse turn constrains, time-delay constraints due to cross signals, and stochastic traffic volume. The algorithm is also shown to significantly promote search efficiency by changing the population size of path individuals that exist in each generation through the concept of age and lifetime to each path individual. A virtual road-traffic network with various turn constraints and traffic volume is simulated, where the suggested algorithm promptly produces not only an optimal route to minimize the route cost but also the estimated travel time for any pair of the origin and the destination, while effectively avoiding turn constraints and traffic jam.
Temperature control for a hot water heating circulating pump system using a nonlinear sliding surface
Ahn, Byung-Cheon ; Cang, Hyo-Whan ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 162~168
Digital variable structure controller(DVSC) is implemented to control the temperature for the hot water heating circulating pump control system. For the DVSC, a control algorithm is suggested, which using a nonlinear sliding surface and a PID sliding surface outside and inside of steady state error boundary layer, respectively. Smith predictor algorithm is used for the compensation of long dead time. The DVSC of the suggested algorithm yields improved control performance compared with the one of existing algorithm. The system responses with the suggested DVSC shows good responses without overshoot and steady state error inspite of heating load change. By decreasing sampling time, dead time and rise time are increasing, and system output noise by flow dynamics is amplified.
Moving obstacle avoidance of a robot using avoidability measure
Ko, Nak-Yong ; Lee, Beom-Hee ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 169~178
This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept, avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of three state variables: the distance from the obstacle to the robot, outward speed of the obstacle relative to the robot, and outward speed of the robot relative to the obstacle. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid a moving obstacle in real time. Since the algorithm considers the mobility of the obstacle and robot as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.
Development of surface defect inspection algorithms for cold mill strip
Kim, Kyoung-Min ; Park, Gwi-Tae ; Park, Joong-Jo ; Lee, Jong-Hak ; Jung, Jin-Yang ; Lee, Joo-Kang ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 179~186
In this paper we suggest a development of surface defect inspection algorithms for cold mill strip. The defects which exist in a surface of cold mill strip have a scattering or singular distribution. This paper consists of preprocessing, feature extraction and defect classification. By preprocessing, the binarized defect image is achieved. In this procedure, Top-hit transform, adaptive thresholding, thinning and noise rejection are used. Especially, Top-hit transform using local min/max operation diminishes the effect of bad lighting. In feature extraction, geometric, moment and co-occurrence matrix features are calculated. For the defect classification, multilayer neural network is used. The proposed algorithm showed 15% error rate.
Synthesizing multi-loop control systems with period adjustment and Kernel compilation
Hong, Seong-Soo ; Choi, Chong-Ho ; Park, Hong-Seong ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 187~196
This paper presents a semi-automatic methodology to synthesize executable digital controller saftware in a multi-loop control system. A digital controller is described by a task graph and end-to-end timing requirements. A task graph denotes the software structure of the controller, and the end-to-end requirements establish timing relationships between external inputs and outputs. Our approach translates the end-to-end requirements into a set of task attributes such as task periods and deadlines using nonlinear optimization techniques. Such attributes are essential for control engineers to implement control programs and schedule them in a control system with limited resources. In current engineering practice, human programmers manually derive those attributes in an ad hoc manner: they often resort to radical over-sampling to safely guarantee the given timing requirements, and thus render the resultant system poorly utilized. After task-specific attributes are derived, the tasks are scheduled on a single CPU and the compiled kernel is synthesized. We illustrate this process with a non-trivial servo motor control system.
Implementation and tuning of adaptive generalized predictive PID for process control
Lee, Chang-Gu ; Seol, O-Nam ; Kim, Seong-Jung ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 197~203
In this paper, we present a GP-PID(Generalized Predictive PID) controller which has the same structure as a generalized predictive control with steady-state weighting. The proposed controller can perform better than the conventional PID controller because it includes intrinsic delay-time compensator. The PID tuning parameters and delay-time compensator are calculated by equating the two degree of freedom PID to a linear form of GPC. The proposed controller is combined with a supervisor for safe start and self-tuning. GP-PID controller has been tested for various numerical models and an experimental stirred tank heater. As a result, it was observed that the proposed controller shows a satisfactory performance for variable delay as well as stochastic disturbance.
An optimization of activated sludge process in wastewater treatment system utilizing fuzzy graphic simulator
Nahm, Eui-Suck ; Park, Jong-Jin ; Woo, Kwang-Bang ;
Journal of Institute of Control, Robotics and Systems, volume 3, issue 2, 1997, Pages 204~213
In this paper, an application of fuzzy-neuron reasoning to the control of an activated sludge plant is presented. The activated sludge process is widely used in modern wastewater treatment plants. The operation control of the activated sludge process, however, is difficult due to the following reasons : 1)The complexity of the wastewater components, 2)the change of the wastewater influent, and 3)the adjustment errors in the control process. Because of these reasons, it is difficult to obtain mathematical model that really reflect the relationship between the variables and parameters in the process of wastewater treatment correctively and effectively. In this paper, the activated sludge process(A.S.P.) is modeled by a new fuzzy-neuron network representing nonlinear characteristics. These fuzzy-neurons have fuzzy rules with complementary membership function. Based on the constructed model, graphic simulator on X-window system as a graphic integrated environment is implemented. The efficacy of the proposed control scheme was evaluated and demonstrated by means of the field test.