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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 4, Issue 6 - Dec 1998
Volume 4, Issue 5 - Oct 1998
Volume 4, Issue 4 - Aug 1998
Volume 4, Issue 3 - Jun 1998
Volume 4, Issue 2 - Apr 1998
Volume 4, Issue 1 - Feb 1998
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The robust control for a linear time-varying system using state transformation
Cho, Do-Hyeoun ; Lee, Sang-Hyo ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 1~9
This paper is focussed on the problem of robustly stabilizing a transformable linear time-varying system. The considered system is a class of state feedback transformable linear systems. First, the real linear time-varying system is transformed into the linear time invariant system composed with the time-invariant linear part and the time-varying uncertainty part. Second, the solution to a quadratic stabilization problem in the transformed linear system is give via' Lyapunov methods. Then this solution is used to construct a stabilizing linear control law for the real linear time-varying system.
Robust control design applicable to general flexible joint manipulators
Kim, Dong-Hwan ; Chen, Ye-Hwa ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 10~18
Reconstruction of the state variables from the low order controller
Jeong, Gwang-Yeong ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 19~25
Semi-active vibration control using an MR damper
Jeon, Do-Yeong ; Park, Chan-Ho ; Yu, Jeong-Yeol ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 26~31
For the semiactive vibration control, a variable damper and proper control systems are essential. In this research, a controllable damper was designed using the MR fluids and its mechanical properties such as damping constant and response time were measured. Since the response time of the MR damper was much longer than nominal MR fluid response time, the time delay of the damper should be considered in the design of controllers. It is shown that the advanced On/Off vibration control which includes the damper time delay performs more effectively than the conventional one.
Attitude controller design and implementation for a helicopter propeller setup using a robust multivariable control
Lee, Seung-Guk ; Lee, Myeong-Ui ; Gwon, O-Gyu ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 32~37
This paper deals with the implementation of a robust multivariable controller using DSP board and the application to real systems. The LQG/LTR (Linear Quadratic Gaussian with Loop Transfer Recovery) controller proposed by Doyle et al.[1,2] is adopted to design the control system. A helicopter propeller setup is taken as the controlled system in the current paper, and the mathematical model is derived to design the multivariable controller. The performance of the controller is evaluated via simulations, and implementation and application to the MIMO system shows that the control performances are satisfactory and superior to those of the PID controller.
Parameter estimation of a single turbo-prop aircraft dynamic model
Lee, Hwan ; Lee, Sang-Kee ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 38~44
The modified maximum likelihood estimation method is used to estimate the nondimensional aerodynamic derivatives of a single turbo-prop aircraft at a specified flight condition for the best deduction of the dynamic characteristics. In wind axes the six degree of freedom equations are algebraically linearized so that the linear state equation contains aerodynamic derivatives in a state-space form and is used in the maximum likelihood method. The simulated data added with the measurement noise is used as a flight test data which is necessary to the estimation of nondimensional aerodynamic derivatives. It is obtained by implementing the 6-DOF nonlinear flight simulation. In the flight simulation, the effects of several control input types, control deflection amplitudes, and the turbulence intensities on the statistical convergence criteria are also examined and quantitative analysis of the results is discussed.
A study on the design of a path tracker and depth controller for autonomous underwater vehicles
Yang, Seung-Yun ; Lee, Man-Hyung ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 45~55
In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.
Measurement of error estimation for velocity-aided SDINS using separate-bias Kalman filter
Jeon, Chang-Bae ; Lyou, Joon ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 56~61
The velocity measurement error in the velocity-aided SDINS on the maneuvering vehicle is unavoidable and degrades the performance of the SDINS. The characteristics of the velocity measurement error can be modeled as a random bias. This paper proposes a new method for estimating the velocity measurement error in the SDINS. The generalized likelihood ratio test is used for detecting the error and a modified separate-bias Kalman filter in the feedback configuration is suggested for estimating the magnitude of the velocity measurement error.
Calibration of gimballed inertial navigation systems using state estimation
Kim, Gap-Jin ; Song, Taek-Ryeol ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 62~67
Gimballed Inertial Navigation Systems(GINS) are sophisticated autonomous electro-mechanical systems which supply the position, velocity and attitude of the vehicle on which they are mounted. In order to maintain accuracy of outputs, the GINS are required to regularly calibrate senior errors. However, existing calibration methods take up a long time due to multiposition alignments needed to increase accuracy. A particular system formulation for calibration of a GINS is proposed to enhance system observability and thus to expedite calibration procedure. Performance of the proposed calibration method is compared with existing methods such as Schuler test and muliposition alignment. Simulation studies show the proposed system formulation associated with a suggested suboptimal filter is accurate as well as efficient in error identification essential to GINS calibration.
An intelligent cruise control system using a self-tuning fuzzy algorithm
Jung, Seung-Hyun ; Lee, Gu-Do ; Kim, Sang-Woo ; Park, Poo-Gyeon ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 68~75
The Intelligent Cruise Control system, ICC, is a driver assisting system for controlling relative speed and distance between two vehicles in the same lane. The ICC may be considered as an extension of a traditional cruise control, not only keeping a fixed speed of the vehicle, but correcting the speed also to that of a slower one ahead. This paper presents a real-time self-tuning fuzzy control algorithm to develop ICC. The self-tuning fuzzy control law is adopted to reduce the effects of nonlinearities of the vehicle and various road environments. In the self-tuning algorithm an interior penalty method is applied to preserve the inherent order of membership functions and is modified as an on-line algorithm for real time application. Via simulations, the performance of the suggested control algorithm is compared with a PID and a fuzzy control without self-tuning. The suggested control algorithm is implemented on PRV III and the results of the test driving on a local road are given.
On-line parameter estimation of continuous-time systems using a genetic algorithm
Lee, Hyeon-Sik ; Jin, Gang-Gyu ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 76~81
This paper presents an on-line scheme for parameter estimation of continuous-time systems, based on the model adjustment technique and the genetic algorithm technique. To deal with the initialisation and unmeasurable signal problems in on-line parameter estimation of continuous-time systems, a discrete-time model is obtained for the linear differential equation model and approximations of unmeasurable states with the observable output and its time-delayed values are obtained for the nonlinear state space model. Noisy observations may affect these approximation processes and degrade the estimation performance. A digital prefilter is therefore incorporated to avoid direct approximations of system derivatives from possible noisy observations. The parameters of both the model and the designed filter are adjusted on-line by a genetic algorithm, A set of simulation works for linear and nonlinear systems is carried out to demonstrate the effectiveness of the proposed method.
A study on the resolution of the laser range finder
Cha, Yeong-Yeop ; Yu, Chang-Mok ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 82~87
In this study, the theoretical resolution analysis of an active vision system using laser range finder is performed for surrounding recognition and 3D data acquisition in unknown environment. In the result, the resolution of range data in laser range finder is depend on the distance between lens center of CCD camera and light emitter, view angle, beam angle, and parameters of CCD camera. The theoretical resolutions of the laser range finders of various types which are based on parameters effected resolution are calculated and experimental results are obtained in real system.
Design of a new omnidirectional image sensing system for assembly (OISSA)
Kim, Wan-Su ; Cho, Hyeong-Seok ; Kim, Seong-Gwon ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 88~99
In assembly, misalignment must be detected and compensated for during the mating period, regardless of the complexity of the cross-sectional shape. To this end, we propose a novel omnidirectional image sensing system for assembling parts with complicated shapes(OISSA) and its feasibility for detecting the misalignment between mating parts is shown by a series of simulations. This system encompasses a camera with an optical unit attached to the front of the camera. The optical unit consists of a pair of plane mirrors and a pair of conic mirrors. Utilizing the proposed sensing system, a 2
coaxial image of the misalignment along the mating boundary interface between mating parts can be immediately obtained without experiencing self-occlusion.
A study on two dimensional hybrid control by the relative motion between a robot manipulator and a workpiece
Jin, Sang-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 100~104
A hybrid control method based on the relative motion between a manipulator and a workpiece is described for a two-dimensional manipulator, in which it is assumed that there are no collisions between the robot manipulator and the workpiece, and that we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a robot manipulator. The effectiveness of the proposed hybrid control method is illustrated through several simulations.
A study on the manipulability measures of robot manipulators
Lee, Yeong-Il ; Lee, Ji-Hong ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 105~112
Regarding the measure of dexterity of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used technique, it is shown that the manipulability ellipsoid transforms the inexact joint velocity constraints into task space and so it may fail to give an exact measure of dexterity and optimal direction of motion in task space. After showing that the polytope approach can handle such problems, we propose a practical polytope method which can be applied to 3-dimensional task space in general. The relation between manipulability ellipsoids and manipulability polytopes are also explored for a redundant case and a non-redundant one.
A case study on the implementation and performance evaluation of profibus network in automation systems
Kim, Ki-Am ; Hong, Seung-Ho ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 113~122
This paper presents an implementation method of Profibus interface software using FMS(Fieldbus Message Specification). The Profibus interface software is implemented on PC which is widely used as an industrial computer as well as a commercial embedded controller called IUC(Intelligent Universal Controller). In order to enable the Profibus interface software to handle many application tasks and communication services, two kinds of real-time/multi-tasking operating system, OS-9 and CTask, are utilized. We also develop an experimental model of Profibus-based automation system, and evaluate the performance of the Profibus network. Through experiments, the user layer level message latency is measured with respect to the change of message length, message generation interval and TRT(Target Rotation Time). The results of experiment are compared with those of a simulation model which comprises only the physical and data link layers of Profibus. The results of this study shows that the message latency in the user layer level occupies fairly a large part of the total message latency.
A study in fault detection and diagnosis of induction motor by clustering and fuzzy fault tree
Lee, Seong-Hwan ; Shin, Hyeon-Ik ; Kang, Sin-Jun ; Woo, Cheon-Hui ; Woo, Gwang-Bang ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 123~133
In this paper, an algorithm of fault detection and diagnosis during operation of induction motors under the condition of various loads and rates is investigated. For this purpose, the spectrum pattern of input currents is used in monitoring the state of induction motors, and by clustering the spectrum pattern of input currents, the newly occurrence of spectrum patterns caused by faults are detected. For the diagnosis of the fault detected, a fuzzy fault tree is designed, and the fuzzy relation equation representing the relation between an induction motor fault and each fault type, is solved. The solution of the fuzzy relation equation shows the possibility of occurence of each fault. The results obtained are summarized as follows : (1) Using clustering algorithm by unsupervised learning, an on-line fault detection method unaffected by the characteristics of loads and rates is implemented, and the degree of dependency for experts during fault detection is reduced. (2) With the fuzzy fault tree, the fault diagnosis process become systematic and expandable to the whole system, and the diagnosis for sub-systems can be made as an object-oriented module.
Speed Control for Hot Rolling Mill Drives using Mixed Sensitivity Minimization
Kim, Jong-Hae ; Um, Tae-Ho ; Park, Hong-Bae ; Lee, Sang-Ho ; Jeong, Jin-Yang ; Lee, Joo-Kang ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 1, 1998, Pages 134~140