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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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An Algebraic Approach to Optimal Control using STWS
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 561~566
This paper presents an algebraic approach to optimal control for time invariant continuous system using STWS(single term Walsh series). In optimal control, it is well known that the design problem with quadratic performance criteria often involves the determination of time-varying feedback gain matrix by solving the matrix nonlinear Riccati equation and of command signal by solving the integral equation, which makes design procedure quite difficult. Therefore, in order to resolve this problem, this paper is introduced to STWS. In this paper, the time-varying feedback gains and command signals are determined by piecewise constant gains which can be easily obtained from algebraic equation using STWS.
Exponential Stability and Feasibility of Receding Horizon Control for Constrained Systems
Jae-Won Lee ; Wook Hyun Kwon ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 567~573
Robust Positive Real Control of Linear Systems with Repeated Scalar Block Parameter Uncertainty
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 574~578
This paper considers the robust positive real problem for linear systems with linear fractional-type norm-bounded repeated scalar block parameter uncertainty. It is shown that the robust positive real problem can be converted into the standard positive real problem without uncertainty that can be used for the analysis of the given uncertain linear system and the synthesis of a controller that robustly stabilizes and achieves the extended strict positive realness property of the closed-loop transfer function. These results can be also applied to the linear system with general structured uncertainty containing repeated scalar block parameters and are extensions of the previous works that consider only norm-boundedness of the affine unstructured uncertainty.
A Derivation of ROM and Its Application to Design of Discrete PID Controller using DWT
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 579~584
This paper presents an efficient algorithm which determines the parameters of discrete PID controller. The proposed algorithm is an algebraic method to obtain controller parameters using ROM(Reduced Order Model), which can not only make design procedure simple but also reduce the computational burden required for controller implementation. Also, by solving a set of linear equations based on least squares method, the proposed method can make the controller design procedure systematic. Simple examples are given to demonstrate the effectiveness of our method when compared with widely-used conventional method.
Compensation of the Rotor Time Constant of Induction Motor using Stator Current Error
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 585~591
It is proposed a new compensation method in the rotor time constant of indirect vector controlled induction motor. The proposed scheme is an on-line method using the stator current error that is the difference between current command and estimated current calculated from terminal voltages and currents. As the current error becomes to zero, the rotor time constant in the vector controller approaches the real value. The proposed method shows good performances in the transient region as well as in the steady state region regardless of load torque variation, and it is verified by the computer simulation using SIMULINK in Matlab.
Design of a Multiobjective Robust Controller for the Track-Following System of an Optical Disk Drive
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 592~599
In this paper, we design a tracking controller which satisfies transient response specifications and maintains tracking error within a tolerable limit for the uncertain track-following system of an optical disk drive. To this end, a robust
control problem with regional stability constraints and sinusoidal disturbance rejection is considered. The internal model principle is used for rejecting the sinusoidal disturbance caused by eccentric rotation of the disk. We show that a condition satisfying the regional stability constraints can be expressed in terms of a linear matrix inequality (LMI) using the Lyapunov theory and S-procedure. Finally, a tracking controller is obtained by solving an LMI optimization problem involving two linear matrix inequalities. The proposed controller design method is evaluated through an experiment.
Development of Direct Optimization Algorithms using Radial Basis Functions
Hyeon Cheol Gong ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 600~607
A Second-Order Iterative Learning Algorithm with Feedback Applicable to Nonlinear Systems
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 608~615
In this paper a second-order iterative learning control algorithm with feedback is proposed for the trajectory-tracking control of nonlinear dynamic systems with unidentified parameters. In contrast to other known methods, the proposed teaming control scheme utilize more than one past error history contained in the trajectories generated at prior iterations, and a feedback term is added in the learning control scheme for the enhancement of convergence speed and robustness to disturbances or system parameter variations. The convergence proof of the proposed algorithm is given in detail, and the sufficient condition for the convergence of the algorithm is provided. We also discuss the convergence performance of the algorithm when the initial condition at the beginning of each iteration differs from the previous value of the initial condition. The effectiveness of the proposed algorithm is shown by computer simulation result. It is shown that, by adding a feedback term in teaming control algorithm, convergence speed, robustness to disturbances and robustness to unmatched initial conditions can be improved.
Schema Analysis on Co-Evolutionary Algorithm
Kwee-Bo Sim ; Hyo-Byung Jun ;
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 616~623
Design of a Rule Based Controller using Genetic Programming and Its Application to Fuzzy Logic Controller
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 624~629
Evolutionary computation techniques can solve search problems using simulated evolution based on the ‘survival of the fittest’. Recently, the genetic programming (GP) which evolves computer programs using the genetic algorithm was introduced. In this paper, the genetic programming technique is used in order to design a rule based controller consisting of condition-action rules for an unknown system. No a priori knowledge about the structure of the controller is needed. Representation of a solution, functions and terminals in GP are analyzed, and a method of constructing a fuzzy logic controller using the obtained rule based controller is described. A simulation example using a nonlinear system shows the validity and efficiency of the proposed method.
Time-Delay Estimation using Wavelet Theory and Higher-Order Statistics
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 630~635
The objective of this paper is to propose a new efficient technique for the estimation of time-delay parameters using wavelet theory and third-order cumulants, yielding good performance even in the case of low SNR. In particular, band-limited non-Gaussian signals with non-zero skewness and spatially correlated Gaussian noises are considered here. The approach is based on the fact that the effects of spatially correlated Gaussian noises on time-delay estimation can be reduced by using the projection sequences (based on the redundant wavelet decomposition) of given measurements in the higher-order cumulant domain. Finally, the performance of the proposed approach is demonstrated using simulations.
A Design on Multivariable Controller for Industrial Robot Manipulators
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 636~643
This paper is presents multivariable control scheme for industrial robot manipulators. The control scheme consists of two loops. The modeling error between linearized robot model and actual robot model is compensated in error compensation loop. The PID control loop is designed for pole assignment to stability of robot system and utilized for trajectory tracking. Alternatively computer simulation results are given for illustration purpose of suggested controller.
The Control of Flexible Beam using Nonlinear Compensator with Dual-Input Describing Function
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 644~650
In this paper , a state space model for flexible beam is presented using the assumed-modes approach. The state space equation is derived for a flexible beam in which one end is connected to a motor and is driven by a torque equation and the other end is free. Many of the transfer function proposed thus far use the torque to the flexible beam as the input and the tip deflection of the flexible beam as the output. The Technique for the analysis and synthesis of the dual-input describing function(DIDF) is introduced here and the construction of a non-linear compensator, based on this technique, is proposed. This non-linear compensator, properly connected in the direct path of a closed-loop linear or non-linear control system. The above non-linear network is used to compensate linear and non-linear systems for instability, limit cycles, low speed of response and static accuracy. The effectiveness of the proposed scheme is demonstrated through computer simulation and experimental results.
Intelligent FMC Scheduling Utilizing Neural Network and Expert System
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 651~657
In this study, an intelligent scheduling with hybrid architecture, which integrates expert system and neural network, is proposed. Neural network is trained with the data acquired from simulation model of FMC to obtain the knowledge about the relationship between the state of the FMC and its best dispatching rule. Expert system controls the scheduling of FMC by integrating the output of neural network, the states of FMS, and user input. By applying the hybrid system to a scheduling problem, the human knowledge on scheduling and the generation of non-logical knowledge by machine teaming, can be processed in one scheduler. The computer simulation shows that comparing with MST(Minimum Slack Time), there is a little increment in tardness, 5% growth in flow time. And at breakdown, tardness is not increased by expert system comparing with EDD(Earliest Due Date).
A Study on Vision System Design for Automatic Inspection of Steam Generator in Nuclear Power Plants
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 658~665
In this paper, we propose a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants, workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the proposed vision system. Performance of the proposed digital vision system is illustrated by simulation and experiment for similar steam generator model.
Fault Detection and Identification for a Robot used in Intelligent Manufacturing
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 666~673
To increase reliability and performance of an IMS(Intelligent Manufacturing System), fault tolerant control based on an accurate fault diagnosis is needed. In this paper, robot FDI(fault detection and identification) is proposed for IMS where the robot is controlled with state estimates of a nonlinear filter using a mathematical robot model. The Chi-square test and GLR(General likelihood ratio) test are applied for fault detection and fault size is estimated by a proposed bias filter. Performance of the proposed algorithm is tested by simulation for studies.
Development of an Initial Coarse Alignment Algorithm for Strapdown Inertial Navigation System
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 674~679
In this paper, a new coarse alignment algorithm is proposed for roughly determining the initial attitude of the vehicle. The algorithm, referred as two-step coarse alignment algorithm, computes roll and pitch angle of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. With the geometric relation between sensor outputs and attitude angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm that computes a transformation matrix using accelerometer md gyro outputs simultaneously. The simulation is also performed by varying the sensor errors. The results show that the proposed two-step coarse alignment algorithm has better performance for east tilt angle.
A Modular Simulation Model for Turbocharged Diesel Engines
Journal of Institute of Control, Robotics and Systems, volume 4, issue 5, 1998, Pages 680~688
A modular programming approach for simulation/control of turbocharged diesel engines is investigated. The MATLAB/SIMULINK, which provides easy construction of various control modules and handy retrieval of objects, is adopted as a programming environment. The mathematical models for diesel engines are utilized from the literature. The object-oriented modules, which represent mechanical parts or theoretical algorithms for engines, are easily transferable to other application programs in the same environment. The simulation model is applied to a 4 strokes diesel engine. Details of the block diagrams of example modules are demonstrated. Finally, a PI controller and a sliding mode controller are applied to the simulator constructed for a typical turbocharged diesel engine.