• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.81-86
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• 1991

The iterative learning operation has been utilized in the temperature Control of a batch reactor. A generic form of feedback-assisted first-order learning control scheme was constructed and then various design and operation modes were derived through convergence and robustness analysis in the frequency domain. The proposed learning control scheme was then implemented on a bench scale batch reactor with the heat of reaction simulated by an electric heater. The results show a great improvement in the performance of control as the number of batch operations progressed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.303-306
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• 1996

We propose a robust tuning method of the quadratic criterion based iterative learning control(Q-ILC) algorithm for discrete-time linear batch system. First, we establish the frequency domain representation for batch systems. Next, a robust convergence condition is derived in the frequency domain. Based on this condition, we propose to optimize the weighting matrices such that the upper bound of the robustness measure is minimized. Through numerical simulation, it is shown that the designed learning filter restores robustness under significant model uncertainty.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.301-308
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• 1997

The learning speed of the neural networks, the most important factor in applying to real problems, greatly depends on the learning rate of the networks, Three approaches-empirical, deterministic, and stochastic ones-have been proposed to date. We proposed a new learning-rate selection algorithm using an evolutionary programming search scheme. Even though the performance of our method showed better than those of the other methods, it was found that taking much time for selecting evolutionary learning rates made the performance of our method degrade. This was caused by using static intervals (called static windows) in order to update learning rates. Out algorithm with static windows updated the learning rates showed good performance or didn't update the learning rates even though previously updated learning rates shoved bad performance. This paper introduce a window control scheme to avoid such problems. With the window control scheme, our algorithm try to update the learning ra es only when the learning performance is continuously bad during a specified interval. If previously selected learning rates show good performance, new algorithm will not update the learning rates. This diminish the updating time of learning rates greatly. As a result, our algorithm with the window control scheme show better performance than that with static windows. In this paper, we will describe the previous and new algorithm and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1277-1283
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• 1990

The iterative learning control synthesized in the frequency domain has been utilized for temperature control of a batch reactor. For this purpose, a feedback-assisted generalized learning control scheme was constructed first, and the convergence and robustness analyses were conducted in the frequency domain. The feedback-assisted learning operation was then implemented in a bench scale batch reactor where reaction heat is simulated using an electric heater. As a result, progressive reduction of temperature control error could be obviously observed as batch operation is repeated.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.142-148
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• 2003

Reinforcement learning is considered as an important tool for robotic learning in unknown/uncertain environments. In this paper, we propose an evaluation function expressed in a vector form to realize multi-dimensional reinforcement learning. The novel feature of the proposed method is that learning one behavior induces parallel learning of other behaviors though the objectives of each behavior are different. In brief, all behaviors watch other behaviors from a critical point of view. Therefore, in the proposed method, there is cross-criticism and parallel learning that make the multi-dimensional learning process more efficient. By ap-plying the proposed learning method, we carried out multi-dimensional evaluation (reward) and multi-dimensional learning simultaneously in one trial. A special neural network (Q-net), in which the weights and the output are represented by vectors, is proposed to realize a critic net-work for Q-learning. The proposed learning method is applied for behavior planning of mobile robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.67-71
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• 1988

We present an algorithm that uses trajectory following errors to improve a feedforward command to a robot in the iterative manner. It has been shown that when the manipulator handles an unknown object, the P-type learning algorithm can make the trajectory converge to a desired path and also that the proposed learning control algorithm performs better than the other type learning control algorithm. A numerical simulation of a three degree of freedom manipulator such as PUMA-560 ROBOT has been performed to illustrate the effectiveness of the proposed learning algorithm.

• 컴퓨터교육학회논문지
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• 제4권1호
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• pp.65-76
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• 2001

본 논문은 학습자의 통제소재와 관련하여 CAI의 학습효과를 검사하고, 학습자의 통제소재와 학습주도권이 상호관련하여 학업성취에 영향에 대해 분석하였다. 실험 대상은 전남 여수 J중학교 1학년 4개반 160명을 대상으로 선정하였고, 일차적으로 통제소재 검사를 실시하여 내적 외적 통제자 집단으로 분류하였다. 이들 집단에 대해 교사 주도형 CAI와 학습자 주도형 CAI로 수업을 실시하여 통제소재에 따른 학업 성취를 조사하였으며 집단간 차를 통계적으로 검증하는데 ANOVA 변량 분석을 실시하여 다음과 같은 연구 결과를 나타냈다. 첫째, CAI학습결과로서 내적 통제자집단의 학업 성취가 외적 통제자집단에 비해 높았다. 둘째, 학습자 주도형 CAI학습집단이 교사 주도형 CAI학습 집단보다 학업 성취가 높았다. 셋째, 학습자의 통제소재와 CAI의 학습주도권형에 따른 학업성취에는 상호 유의미한 관계가 없었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1300-1304
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• 2003

The following paper deals with a control problem of a mobile robot in home network environment. The home network causes the mobile robot to communicate with sensors to get the sensor measurements and to be adapted to the environment changes. To get the improved performance of control of a mobile robot in spite of the change in home network environment, we use the fuzzy inference system with multiple reward reinforcement learning. The multiple reward reinforcement learning enables the mobile robot to consider the multiple control objectives and adapt itself to the change in home network environment. Multiple reward fuzzy Q-learning method is proposed for the multiple reward reinforcement learning. Multiple Q-values are considered and max-min optimization is applied to get the improved fuzzy rule. To show the effectiveness of the proposed method, some simulation results are given, which are performed in home network environment, i.e., LAN, wireless LAN, etc.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.85.4-85
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• 2001

A learning controller is presented for repetitive walking motion of biped robot. The learning control scheme learns the approximate inverse dynamics input of biped walking robot and uses the learned input pattern to generate an input profile of different walking motion from that learnt. In the learning controller, the PID feedback controller takes part in stabilizing the transient response of robot dynamics while the feedforward learning controller plays a role in computing the desired actuator torques for feedforward nonlinear dynamics compensation in steady state. It is shown that all the error signals in the learning control system are bounded and the robot motion trajectory converges to the desired one asymptotically. The proposed learning control scheme is ...

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.369-372
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• 1993

In this thesis, we consider an iterative learning controller to control the continuous trajectory of 2 links direct drive robot manipulator and process computer simulation and real-time experiment. To improve control performance, we adapt an iterative learning control algorithm, drive a sufficient condition for convergence from which is drived extended conventional control algorithm and get better performance by extended learning control algorithm than that by conventional algorithm from simulation results. Also, experimental results show that better performance is taken by extended learning algorithm.