• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.317-321
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• 1990

This paper proposes a performance improvement to a control system with optimal state feedback control. In this paper, a simple and direct design procedure is proposed to design the model following controller. The scheme is implemented in a 16 bit micromputer with math corprocessor. Tests on a DC machine have been conducted.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.426-430
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• 1987

The reliability is the critical issue in many computer applications, particularly in process control system. In this paper we describe how to achieve the reliability improvement in controller system based multiprocessor. The proposed method is accomplished by using the techniques of fault detection, fault isolation, safe action, and fault diagnosis.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.431-436
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• 1987

In this paper, the development of an One Loop Controller is described. The functions which are built in the One Loop Controller are summarized and the hardware implemention of these functions using 16 bit microprocessor is described. The developed One Loop Controller is applied to DC_Motor based position control system and it's results are given.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.174-178
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• 1987

In the design of reference model based STC (self-tuning controllers), parameters of the controllers are determined not from the true plant but from the estimated model. In this paper, we suggest a power spectrum estimation method for visualling the sensitivity of the closed loop system without knowing the explicit original plant.

• ICROS
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• v.18 no.4
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• pp.46-54
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• 2012

차량 간 통신 또는 차량과 인프라 간의 통신을 기반으로 자동차를 스마트화 또는 무인화 하려는 기술들이 지속적으로 개발되고 있다. 이러한 시스템의 안전성을 보장할 수 있는 신뢰도를 검증할 수 있는 방법들이 활발하게 개발되고 있다. 특히 제어기의 강인성과 고장감지의 신뢰도와 같은 관점에서 개발되는 알고리즘의 성능을 검증하는 방법에 대해서 살펴보고자 한다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.2015-2025
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• 1991

A long and light-weight forearm of the vertical 2 DOF robot manipulator with a heavy payload driven by parallel drive mechanism is modelled as a Euler-Bernoulli beam with a tip mass subjected to a high speed rotation. Governing equation is obtained by Hamilton's principle and represented as state variable form using the perturbed variables which describe the perturbed errors at the manipulator's final configuration. Digitial optimal control and observer theory are used to suppress the forearm vibration and control the positions of the joint angles with measured/estimated state feedback. Computer simulations and experimental results are obtained and compared each other.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.22 no.4
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• pp.19-25
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• 2008

This paper proposes a hierarchically structured navigation algorithm for autonomous mobile robot under unknown environment based on fuzzy-neal network. The proposed algorithm consists of two basic layers as follows. The lower layer consists of two parts such as fuzzy algorithm for goal approach and fuzzy-neural algorithm for obstacle avoidance. The upper layer which is basically fuzzy algorithm adjusts the magnitude of the weighting factor depending on the environmental situation. The proposed algorithm provides an efficient method to escape local mimimum points as shown in the simulation result. Most simulation results show that this algorithm is very effective for autonomous mobile robots' traveling in unknown field.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.4
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• pp.6-15
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• 2002

A neural network disturbance observer for a robotic manipulator is derived in this paper. The neural network used as the disturbance observer is a feedforward MLP(multiple-layered perceptron) network. The uniform ultimate boundness(UUB) of the proposed neural disturbance observer and the control error within a sufficiently small compact set is guaranteed. This neural disturbance observer method overcomes the disadvantages of the existing adaptive control methods which require the tedious analysis of the regressor matrix of the given manipulator. The effectiveness of the proposed neural disturbance observer is demonstrated by the application to the three-link robotic manipulator.

• ICROS
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• v.6 no.4
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• pp.28-37
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• 2000

본 논문에서는 관리제어시스템의 대상인 이산사건시스템을 하나의 전역 관리제어기 (global supervisor)가 아닌 여러 개의 국소 관리제어기(local supervisor)들의 동시수행 (concurrent action)을 통한 분산관리제어에 대해 알아본다. 반적으로 관리제어 대상시스 템 G 의 사양에 대해 관리제어가 설계가능하면 하나의 전역 관리제어기(S)를 설계하여 관리제어시스템의 언어 L(S/G)를 생성할 수 있다. 이에 반하여, 분산 관리제어이론은 주 어진 사양(specification)에 대해 여러 개의 국소 관리제어기(Si) 들의 동시수행(∧Si/G)를 생성함으로써 전역 관리제어기와 동등한 역할 즉 L(S/G)=L(∧Si/G)을 이루고자 하는 데 그 목적이 있다. 리제어 대상시스템 G의 발생가능한 사건들에 관해 제어가능성과 관측가 능성을 고려하여 모든 사건들이 관측가능할 경우와 관측불가능한 사건들이 존재하는 경 우로 구분하여 분산 관리제어시스템의 설계에 대해 알아본다. 또한 관측 불가능한 경우 와 관측불가능한 사건들이 존재하는 경우로 구분하여 분산 관리제어시스템의 설계에 대 해 알아본다. 또한 관측불가능한 사건들이 존재할 때 사양언어(specification language) K 가 여러 개의 국소사양 (local specification)들의 교집합으로 주어진 경우의 국소 분산 관 리제어와 하나의 전역사양(global specification)으로 주어진 경우의 전역 분산 관리제어 로 세분하여 각각의 분산 관리제어결과가 전역 관리제어결과와 서로 같아질 수 있는 조 건에 대해 알아본다

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.2
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• pp.77-88
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• 2018

This paper proposes a RBFNN(Radial Basis Function Neural Network) based decentralized adaptive tracking control scheme using PSO(Particle Swarm Optimization) for an uncertain electrically driven robot system with input saturation. Practically, the magnitudes of input voltage and current signals are limited due to the saturation of actuators in robot systems. The proposed controller overcomes this input saturation and does not require any robot link and actuator model parameters. The fitness function used in the presented PSO scheme is expressed as a multi-objective function including the magnitudes of voltages and currents as well as the tracking errors. Using a PSO scheme, the control gains and the number of the RBFs are tuned automatically and thus the performance of the control system is improved. The stability of the total control system is guaranteed by the Lyapunov stability analysis. The validity and robustness of the proposed control scheme are verified through simulation results.