• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.165-173
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• 1996

It is not desirable to have too large control input in control systems, because there are usually a limitation for the input magnitude and cost for the input energy. Previous papers in the iterative learning control did not considered on these points. In this paper, an iterative learning control method is proposed for a class of nonlinear systems with consideration on input magnitude by adopting a concept of cost function consisting of the output error and the input magnitude in quadratic form. We proposed a new input update law with an input penalty function. If we choose a reasonable input penalty function, the two control objectives, good command following and small input energy, can be achieved. The characteristics of the proposed method are shown in the simulation examples.

• Proceedings of the KIPE Conference
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• 1997.07a
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• pp.341-344
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• 1997

This paper suggests the modified delay compensation scheme under the control input saturation in order to improve the control performance. This scheme uses the real estimated control input instead of the direct command control input. The simulation results show that this scheme can improve the current control performance under the delay time and the limited control input.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.208-220
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• 2006

Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.2
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• pp.131-136
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• 2012

If one can find a control Lyapunov function (CLF) for a given nonlinear system, the control input stabilizing the system can be easily obtained. To find a CLF, the time derivative of an energy function should be negative definite. This procedure frequently requires a control input which is a rational function or includes an inverse function. The control input is not defined on the specific state-space where the denominator of the rational function is equal to 0 or the inverse function does not exist. In this region with singularities, the trajectory of the control system cannot be generated, which is one of the most important reasons why it is hard to make the origin of a nonlinear system be globally asymptotically stable. In this paper, we propose a smooth control law ensuring the globally asymptotic stability by means of cancelling the singularity in the control input.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2290-2292
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• 2000

Robustness characteristics to the modelling imprecision and some disturbances could be achieved in sliding mode control. However, there are drawbacks such as discontinuous control and chattering. Recently, many researches have been developing to solve such the problems. In sliding mode control, overall control input could be divided into two parts which are equivalent control input and sliding mode control input. Sliding mode control input is a function of the switching surfaces and can be designed with their linear combinations. In this paper, the sliding mode control input is designed by TSK fuzzy model. The proposed method gives the continuous sliding control input and reject the chattering phenomenon.

• Journal of Power Electronics
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• v.17 no.3
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• pp.632-640
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• 2017

Input series output independent (ISOI) dc-dc converter systems are suitable for high voltage input and multiple output applications with low voltage rating switches. This paper proposes a novel control strategy consisting of one output voltage regulating (OVR) control loop and n-1 (n is the number of modules in the ISOI system) input voltage sharing (IVS) control loops. An ISOI system with the proposed control strategy can be applied to applications where the output loads of each module are the same. Under these conditions, IVS can be achieved and output voltages copying can be realized in an ISOI system. In this control strategy there is only one controller for each module and the design process of the control loops is simple. Since no central controller is needed in the system, modularity of the system is improved. The operation principle of the new control strategy is introduced and the control effect is simulated. Then the output power and voltage characteristics of an ISOI system under this new control strategy are analyzed. The stability of the proposed control strategy is explored base on a Hurwitz criterion, and the design guide line of the control strategy is given. A two module ISOI system prototype is fabricated and tested in the laboratory. Experimental results verify the effectiveness of the proposed control strategy.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.171-175
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• 1992

In this paper, we derive the optimal input-constrained control law which minimizes predictive control objective function subject to input constraints. In order to obtain the closed form of control law, three suboptimal methods are proposed and evaluated by simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.425-425
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• 2000

The heavy duty power manipulate generally has high ratio gear reducers at its joints. When it is used as a slave manipulator in the teleoperation system, therefore, the control input saturates frequently and its tracking performance and stability ate also likely to be deteriorated. This paper proposes a force reflecting control scheme for the manipulator with control input saturation. A series of experiments are shown to give excellent tracking performance with force reflection regardless of control input saturation.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.270-270
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• 2000

Input delay is frequently encountered in the practical systems since measurement delay and computational delay can be represented by input delay. In this viewpoint, this paper deals with the robust control problem of input delayed systems with structured uncertainty. Robust stability conditions are provided in terms of linear matrix inequalities(LMIs) and it is shown that the proposed conditions can give less conservative maximum bound of input delay guaranteeing robust stability.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.652-657
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• 1992

This paper presents to accomplish successfully a multi-input real time control by applying control hierarchy for sliding mode of multi-joint manipulators whose nonlinear terms are regarded as disturbances. We- could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that nonlinear terms, which are Inertia term, gravity force term, Coriolis force term and centrifugal force term, are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode of multi-input system. We proposed a new control input algorithm in order to decrease chattering by changing control input according as effect of disturbance if a control response become within allowance error range. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by time delay of calculation and to carry out real time control.