• International Journal of Control, Automation, and Systems
• /
• v.4 no.4
• /
• pp.428-437
• /
• 2006

Many physical systems are hybrid in the sense that they have continuous behaviors and discrete phenomena. In control system with multiple models, switching strategy and stability of the closed-loop system under switching are very important issues. In this paper, a novel adaptive control scheme based on multiple parameter models is proposed to cope with a change in Parameters. Switching strategy guarantees the non-increase in the global control Lyapunov function if the estimation of Lyapunov function value converges. Least-square estimation is used to find the estimated value of the Lyapunov function. Switching and adaptation law guarantees the stability of closed-loop system in the sense of Lyapunov. Simulation results on anti-lock brake system are shown to verify the effectiveness of the proposed controller in view of a large change in system parameters.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.5
• /
• pp.508-514
• /
• 2007

Properties and potential applications of the block pulse response circulant matrix (PRCM) and its singular value decomposition (SVD) are investigated in relation to MIMO control and identification. The SVD of the PRCM is found to provide complete directional as well as frequency decomposition of a MIMO system in a real matrix form. Three examples were considered: design of MIMO FIR controller, design of robust reduced-order model predictive controller, and input design for MIMO identification. The examples manifested the effectiveness and usefulness of the PRCM in the design of MIMO control and identification. irculant matrix, SVD, MIMO control, identification.

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.444-447
• /
• 1995

The satellite in a circular orbit about a planet with disturbances and a three-degree-of-freedom (3DOF) structure under seismic excitations are modeled by the linear stochastic differential equations. Then the risk-sensitive optimal control method is applied to those equations. The mean and the variance of the cost function varies with respect to the risk-sensitivity parameter, .gamma.$_{RS}$ . For a particular risk-sensitivity parameter value, risk-sensitive control reduces to LQG control. Furthermore, the derivation of the mean square value of the state and control action are given for a finite-horizon full-state-feedback risk-sensitive control system. The risk-sensitive controller outperforms a classical LQG controller in the mean square sense of the state and the control action.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.12
• /
• pp.1132-1138
• /
• 2012

The MPC (Model Predictive Control) is one of the techniques that can be used to control an unmanned vehicle. It predicts the future vehicle trajectory using the dynamic characteristic of the vehicle and generate the control value to track the reference path. If some obstacles are detected on the reference paths, the MPC can generate control value to avoid the obstacles imposing the inequality constraints on the MPC cost function. In this paper, we propose an obstacle modeling algorithm for MPC with inequality constraints for obstacle avoidance and a method to set selective constraint on the MPC for stable obstacle avoidance. Simulations with the field test data show successful obstacle avoidance and way point tracking performance.

• Journal of Korean Institute of Industrial Engineers
• /
• v.25 no.4
• /
• pp.448-458
• /
• 1999

This paper proposes sequential control charts with an upper bound on sample size. Existing sequential control charts have no restriction on the number of observations at a sampling point. For situations where sampling and testing an item is time-consuming or expensive, sequential control charts may not be directly applied. When the number of observations in a sampling point reaches the upper bound and there is no out-of-control signal, the proposed cumulative sequential control chart defers the decision to the next sampling point of which starting value is the value of the current statistic. Two Markov chains, inner and outer chains, are used to derive the formulas for evaluating the performance of the proposed chart. It is compared with $\bar{X}$ and cumulative sum control charts with fixed and variable sample sizes. The fast initial response (FIR) feature is studied. Guidelines for the design of the proposed charts are also given.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.4
• /
• pp.31-38
• /
• 2022

In this study, we designed and manufactured an intelligent gripper-control device to safely grip unknown objects. The gripper control device consists of a DSP circuit, power supply circuit, communication circuit, and amplifier circuit diagrams. The DSP is used because the values of the 3-axis force sensor to which the gripper is attached are measured and calculated at high speeds. The gripping force is determined based on this value, and the object must be safely gripped with the determined value. A basic characteristic test of the control device of the manufactured intelligent gripper was conducted, and it was confirmed that it operated safely.

• Structural Monitoring and Maintenance
• /
• v.8 no.4
• /
• pp.329-344
• /
• 2021

The use of structural control devices to minimize structural response to seismic/dynamic excitations has attracted increased attention in recent years. The use of magnetorheological (MR) dampers as a control device have captured the attention of researchers in this field due to its flexibility, adaptability, easy control, and low power requirement compared to other control devices. However, little attention has been paid to the effect of configuration and number of dampers installed in a structure on responses reduction. This study assesses the control of a five-story structure using one and two MR dampers at different stories to determine the optimal damper positions and configurations based on performance indices. This paper also addresses the fail-safe current value to be applied to the MR damper at each floor in the event of feedback or control failure. The model is mathematically simulated in SIMULINK/MATLAB environment. Linear control strategies for current at 0 A, 0.5 A, 1 A, 1.5 A, 2 A, and 2.5 A are implemented for MR dampers, and the response of the structure to these control strategies for different configurations of dampers is compared with the uncontrolled structure. Based on the performance indices, it was concluded that the dampers should be positioned starting from the ground floor, then the 2^nd floor followed by 1^st and rest of the floors sequentially. The failsafe value of current for MR dampers located in lower floors (G+1) should be kept at a higher value compared to dampers at top floors for effective passive control of multi-story structures.

• Korean Journal of Construction Engineering and Management
• /
• v.7 no.1 s.29
• /
• pp.128-137
• /
• 2006

Recently the role and the importance of design value engineering is expected to be high, so research is needed for its effective accomplishment. But in domestic arena, the introduction of the history of design value engineering is too short and insufficient in act of research. Therefore in this research we have suggest the standard for the effective accomplishment of design value engineering work. The way is the abstraction many causes. firstly, we analyzed the team project case of value engineering professional instruction. second, we analyzed the cause of problem produced in accomplishment process of design value engineering work through research for the professional field. So from the base of the analyzed content, we have suggest main control factor for the effectiveness of design value engineering work and the following scheme and process of work efficiency optimization.

• Proceedings of the Korean Society of Plant Pathology Conference
• /
• 2003.10a
• /
• pp.102.2-103
• /
• 2003

This studies were investigated the occurrence of Sclerotinia rot by Sclerotinia Sclerotiorum at the lettuce field in Uiryeong-Gun, Gyeongsangnam-Do and were isolated the most effective microorganism for the biological control to the pathogen, S. sclerotiorum YR-1 strain from diseased soil and lettuce leaves. For the pathogenicity test, the most suitable inoculmn density of YR-1 strain was selected as the mycelial suspension of 40m1 showing disease incidence of 80％, and the symptom showed as same as at the fields, the leaves and stem had rotten and developed white downy mycelial at the diseased lesion on the leaves and stems, and produced black and irregular sclerotinia. On the PDA dual test, about 300 isolates were examined the antifungal activity to the pathogen, YR-1 strain, and among them, A-2, A-7, and RH-4 strain were selected most effective antagonistic bacteria. At pots test, the control value of A-7 strain showed the highest value as 85％ which was more effective than that of others in a growth chamber. For the promotion of control effect, the selected 3 isolates were spayed on the lettuce leaves as a sole and/or mixed treatments in a growth chamber, the mixed treatment of A-7 and RH-4 strain showing the control value of 90％ was most effective than that of sole treatment with A-7 or RH-4 strain showing the control value of 80％, respectively and mixed treatment with A-2 and A-7 strain and A-2, A-7 and RH-4 strain. In addition, 3 bacteria re-isolated from diseased soils, and all of the selected 6 isolates investigated the control effect at pots in a growth chamber, According to the results, A-7 and Pro-EB 15 strain showed the control value of 91.0％ and 90.1％ respectively, and they were selected most effectual antagonistic bacteria to control lettuce sclerotinia rot and identified as the Bacillus mojanuinensis by 16s RNA analysis. This is the first report on the biological control using by B. mojanvinensis to the lettuce Sclerotinia rot.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.999-1004
• /
• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.