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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 7, Issue 12 - Dec 2001
Volume 7, Issue 11 - Nov 2001
Volume 7, Issue 10 - Oct 2001
Volume 7, Issue 9 - Sep 2001
Volume 7, Issue 8 - Aug 2001
Volume 7, Issue 7 - Jul 2001
Volume 7, Issue 6 - Jun 2001
Volume 7, Issue 5 - May 2001
Volume 7, Issue 4 - Apr 2001
Volume 7, Issue 3 - Mar 2001
Volume 7, Issue 2 - Feb 2001
Volume 7, Issue 1 - Jan 2001
Selecting the target year
A Study on the Sway Control of a Container Crane Based on $H^
$ Gain-Scheduling Approach
Kim, Yeong-Bok ; Jeong, Yong-Gil ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 559~566
The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^
$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.
Implementation of Real-Time Thermal Environment for Virtual Reality Using Gain Scheduling and Cascade Control
Sin, Yeong-Gi ; Jang, Yeong-Su ; Kim, Yeong-Il ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 567~573
A real-time HVAC system is proposed which implements real-time control of thermal environment for virtual reality. It consists of a pair of hot and cold loops that serve as thermal reservoirs, and a mixing box to mix hot and cold air streams flowing if from loops. Their flow rates are controlled in real-time to meet a set temperature and flow rate. A cascade control algorithm along with gain scheduling is applied to the system and test results shows that the closed-loop response approached set values within 3 to 4 seconds.
Comparison Study of Nonlinear CSAS Flight Control Law Design Using Dynamic Model Inversion and Classical Gain Scheduling
Ha, Cheol-Geun ; Im, Sang-Su ; Kim, Byeong-Su ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 574~581
In this paper we design and evaluate the longitudinal nonlinear N(aub)z-CSAS(Command and Stability Augmentation System) flight control law in \"DMI(Dynamic Model Inversion)-method\" and classical \"Gain Scheduling-method\", respectively, to meet the handling quality requirements associated with push-over pull-up maneuver. It is told that the flight control law designed in \"DM-method\" is adequate to the full flight regime without gain scheduling and is efficient to produce the time response shape desired to the handling quality requirements. On the contrary, the flight control law designed in \"Gain Scheduling-method\" is easy to be implemented in flight control computer and insensitive to variation of the actuator model characteristics.n of the actuator model characteristics.
Transient Response Improvement of Multiple Model/Controller IMC Using Recurrent Neural Networks
O, Won-Geun ; Jo, Seong-Eon ; So, Ji-Yeong ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 582~588
The Multiple Model/Controller IMC(MMC-IMC) is a model-based control method which uses a set of model/controller pairs rather than a single model/controller to handle all possible operating conditions in the IMC control structure. During operation, one model/controller pair that best fit, for current plant situation is chosen by the switching algorithm. The major drawback of the switching controller is the bad transient performance due to the model error and the use fo linear controller for nonlinear plants. In this paper, we propose a method that transient response of the MMC-IMC using two recurrent neural networks. Simulation result shows that the proposed method represents better performance than the usual MMC-IMC`s
Design of the Optimal Controller for Takagi-Sugeno Fuzzy Systems and Its Application to Spacecraft control
Park, Yeon-Muk ; Tak, Min-Je ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 589~596
In this paper, a new design methodology for the optimal control of nonlinear systems described by the TS(Takagi-Sugeno) fuzzy model is proposed. First, a new theorem concerning the optimal stabilizing control of a general nonlinear dynamic system is proposed. Next, based on the proposed theorem and the inverse optimal approach, an optimal controller synthesis procedure for a TS fuzzy system is given, Also, it is shown that the optimal controller can be found by solving a linear matrix inequality problem. Finally, the proposed method is applied to the attitude control of a rigid spacecraft to demonstrate its validity.
Fuzzy Moving Sliding Model Control for Robotic Manipulators
Chun, Kyung-Han ; Park, Bong-Yeol ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 597~604
Recently, the study of the moving sliding mode in the variable structure control is in progress ac-tively. The conventional time-invariant sliding model control can\`t guarantee the sliding mode in the reaching phase, which is robust against the uncertainty. But with the time-varying method, the controller makes the states track the desired trajectories and keeps the sliding mode. Nevertheless, the piecewise continuous method of the past still has the reaching mode. Thus we propose the continuously moving sliding surface by the fuzzy algorithm. The proposed algorithm is made of the fuzzy rule considering both the error and the error velocity, and may apply to the entire phase plane without sacrificing sliding mode. Especially the proposed scheme can rotate tot he slope-decreasing direction, needless to say rotating to the slope-increasing direction. For showing that the proposed controller guarantees the sliding model and ensures the robustness, we apply the proposed method to the two-link robot manipulator simulation.
Robust Backstepping Design of Nonlinear Systems Using Adaptation Strategy for Uncertaninties
Kim, Dong-Heon ; Kim, Eung-Seok ; Yang, Hae-Won ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 605~613
In this paper, we design a robust adaptive controller for a nonlinear system with uncertainties to be rejected via disturbance adaptation law. The nonlinear system considered has unknown nonlinear functions being influenced by external disturbance. The upper bound of unknown nonlinear functions at each time is estimated by using a disturbance adaptation law. The estimated nonlinear functions are used to design a stabilizing function a control input. Tuning function is used to estimates unknown system parameter without overparametrization. A set-point regulation error converges to a residual set close to zero asymptotically. The effectiveness of the proposed controller is investigated by computer simulation.
Comparative Evaluation of Sky-Hook Controllers for a Full Car Model with Active or Semi-Active Suspension Systems
Yun, Il-Jung ; Im, Jae-Pil ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 614~621
The controllers for a full car 7-DOF model with 4 active or semi-active suspension units are designed and evaluated in this research. The control algorithms for suspension systems, such as full state feedback active, full state feedback semi-active, sky-hook active, sky-hook semi-actvie, and on-off suspension systems, are analyzed and evaluated with respect to ride comfort. The vehicle dynamic performances are expressed by response curves to a bump input, performance indices for asphalt road input, and frequency characteristic curves. Heaving, rolling, and pitching inputs are applied to the vehicle dynamic system to evaluate frequency characteristics. The simulation results show that the ride quality of the sky-hook controller approaches that the full state feedback controller more closely in semi-active suspension system than in active suspension system. For the implementation of a vehicle with sky-hook suspension control systems in this paper, 7 velocity sensors are required to measure the states.
Design of Fuzzy PID Controller for Tracking Control
Kim, Bong--Joo ; Chung, Chung-Chao ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 622~631
This paper presents a fuzzy modified PID controller that uses linear fuzzy inference method. In this structure, the proportional and derivative gains vary with the output of the system under control. 2-input PD type fuzzy controller is designed to obtain the varying gains. The proposed fuzzy PID structure maintains the same performance as the same performance as the general-purpose linear PID controller, and enhances the tracking performance over a wide range of input. Numerical simulations and experimental results show the effectiveness of the fuzzy PID controller in comparison with the conventional PID controller.
Architecture of Web-Based Real-Time Monitoring Systems
Park, Hong-Seong ; Jeong, Myeong-Sun ; Kim, Bong-Sun ;
Journal of Institute of Control, Robotics and Systems, volume 7, issue 7, 2001, Pages 632~639
This paper proposes an improved architecture of web-based monitoring systems for monitor of processes in plants from the soft real-time point of view. The suggested model is designed to be able to guarantee the temporal and spatial consistency and transmit the monitoring data periodically via the intranet and the Internet. The model generates one thread for monitoring management, one DB thread, one common memory, and corresponding monitoring threads to clients. The monitoring thread is executed during the smaller time than the execution time of the process used in the conventional methods such as CGI and servlet method. The Java API for the server API, VRML, EAI(External Authoring Interface) and Java Applets for efficient dimensional WEB monitoring are used. The proposed model is implemented and tested for a FMS plant, Some examples show that the proposed model is useful one.