• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10a
• /
• pp.876-881
• /
• 1987

This paper is concerned with a robust model following control scheme for manipulators which contains uncertain terms. Our method consists of nonlinear compensation and linear compensation. The former ensures the robustness of the plant, the later achieves both the desired model following response and the desired initial error convergence.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.194-199
• /
• 1989

In this paper, using the direct drive arm for plant, the controller is developed to track the desired trajectory in high speed and precision. For the purpose of this, through extending self-tuning pole-placement algorithm, we developed self-tuning pole-shift algorithm which is fast in response and good tracking for the reference tracking change. Developed controller is applied a three-link direct drive arm with the varing payload to track the desired tracking. And, through the computer simulation, the performance of developed controller is compared with the performance of the computed torque method and the self-tuning pole placement algorith.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.3 no.3
• /
• pp.119-128
• /
• 1995

A driver-vehicle model means the integrated dynamic model that is able to estimate the steering wheel angle from the driver's desired path based on the dynamic characteristics of the driver and vehicle. In this paper, the dynamic characteristics of several four-wheel steering systems with the simultaneously steerable front and rear wheels are investigated and compared by means of the driver-vehicle model. Especially, the presented analysis results are obtained by using the ISO test codes such as lane change, double lane change and slalom, and the effects of the driver's steering response time and vehicle speed are examined on the responsiveness and stability of vehicle.

• Asian-Australasian Journal of Animal Sciences
• /
• v.16 no.6
• /
• pp.789-793
• /
• 2003

An investigation was conducted on 729 Hariana cows maintained at Government Livestock Farm, Hisar, from 1973 to 1999, with an objective to compare the efficiency of various selection indices for attaining desired genetic gains in the index traits. The various traits included were age at first calving (AFC), service period (SP), calving interval (CI), days to first service (DFS), number of services per conception (NSPC), lactation milk yield (LY), peak yield (PY), dry period (DP). Except for LY, PY and AFC the heritabilities of all other traits were low. Desirable associations among reproductive traits are supportive of the fact that any one of these traits incorporated in simultaneous selection is expected to cause correlated response in other traits. Production traits (LY and PY) were positively correlated, while DP had low negative genetic correlation with LY, and high genetic correlation with PY. Thus, DP can be taken as additional criteria in selection index for better over all improvement. Almost all production traits except DP had low negative correlation with AFC, SP, DFS and CI meaning that reduction in reproduction traits up to certain level may increase production performance. While, the correlation of NSPC with LY and PY was moderate positive. Among four trait indices I23: incorporating PY, AFC, SP and NSPC and among three trait indices I1: incorporating LY, AFC and SP were the best as these required least number of generations (4.87 and 1.35, respectively) to attain desired goals. Next in order of preference were PY or LY along with DP and SP as the best indices (I20 and I16) of which, index with PY may be preferred instead of LY as it produced considerably high correlated response in LY and reduction in NSPC as well.

• Asia pacific journal of information systems
• /
• v.16 no.2
• /
• pp.47-67
• /
• 2006

This study takes a quantitative approach to the influence of TTF (Task-Technology Fit) on the individual's use and performance of GSS (Group Support Systems), while traditional studies on TTF have taken the experimental approach to explore the characteristic fit between diverse tasks and technologies. We have the following two research inquires: Are the IS use and performance maximized when information technologies are provided by the exact amount of demand?; and, Does TTF at the high level between task and IT produce better IS use (or performance) than at the low level? To investigate these issues, we use the polynomial regression analysis and response surface methodology of Edwards (1993) instead of traditional direct measure of TTF. This method measures the degree of desired and actual level of information technologies in conducting tasks, and traces the dynamic changes of dependent variables (IS use and performance) according to the variances of each independent variable. Our results conclude that user's IS use and performance are maximized when information technologies are actually provided by no more or less than the desired level. We also found that TTF at the high level promotes better IS use and performance than TTF at the low level.

• 제어로봇시스템학회:학술대회논문집
• /
• 1999.10a
• /
• pp.284-287
• /
• 1999

A design of I-PDA controller for the third order plant by CDM is presented in this paper. Using CDM in the controller design procedures, the step responses of the controlled system with the I-PDA controller satisfied both transient and steady state response specifications without adjustment, and also satisfy the requirements of stability, faster response and robustness. The step responses of the controlled system using I-PDA controller are coiniciding to the ones using PIDA controller, and the integral gain of the I-PDA controller also equals to the prefilter gain of the PIDA controller designed by CDM. The effect of the disturbances can also be lastly eliminated. The fast step response of the controlled system can be obtained by reducing the equivalent time constant. MATLAB's numerical results show that the desired specifications of the controlled system using I-PDA controller is obtained. Furthermore, the results also show a good robustness that the desired performances of the controlled system have no significant changed when the plant parameters are varied.

• Journal of Auto-vehicle Safety Association
• /
• v.12 no.2
• /
• pp.27-32
• /
• 2020

This paper presents steering system requirements to ensure the stabilized lateral control of autonomous driving vehicles. The two main objectives of a lateral controller in autonomous vehicles are maintenance of vehicle stability and tracking of the desired path. Even if the desired steering angle is immediately determined by the upper level controller, the overall controller performance is greatly influenced by the specification of steering system actuators. Since one of the major inescapable traits that affects controller performance is the time delay of the steering actuator, our work is mainly focused on finding adequate parameters of high level control algorithm to compensate these response characteristics and guarantee vehicle stability. Actual vehicle steering angle response was obtained with Electric Power Steering (EPS) actuator test subject to various longitudinal velocity. Steering input and output response analysis was performed via MATLAB system identification toolbox. The use of system identification is advantageous since the transfer function of the system is conveniently obtained compared with methods that require actual mathematical modeling of the system. Simulation results of full vehicle model suggest that the obtained tuning parameter yields reduced oscillation and lateral error compared with other cases, thus enhancing path tracking performance.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.2
• /
• pp.399-407
• /
• 1996

A fuzzy learning algorithm to get the optimal fuzzy rules is presented in this paper. The algorithm introduces a reference model to generate a desired output and a performance index funtion instead of the performance index table. The performance index funtion is a cost function based on the error and error-rate between the reference and plant output. The cost function is minimized by a gradient method and the control input is also updated. In this case, the control rules which generate the desired response can be obtained by changing the portion of the error-rate in the cost funtion. In SISO(Single-Input Single- Output)plant, only by the learning delay, it is possible to experss the plant model and to get the desired control rules. In the long run, this algorithm gives us the good control rules with a minimal amount of prior informaiton about the environment.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2003.04a
• /
• pp.403-410
• /
• 2003

A new semiactive control strategy for seismic response reduction using a neuro-controller and a magnetorheological (MR) fluid damper is proposed. The proposed control system adopts a clipped algorithm which induces the MR damper to generate approximately the desired force. The improved neuro - controller, which was developed by employing the training algorithm based on a cost function and the sensitivity evaluation algorithm replacing an emulator neural network, produces the desired active control force, and then by using the clipped algorithm the appropriate command voltage is selected in order to cause the MR damper to generate the desired control force. The simulation results show that the proposed semiactive neuro-control algorithm is quite effective to reduce seismic responses. In addition, the semi-active control system using MR fluid dampers has many attractive features, such as the bounded-input, bounded-output stability and small energy requirements. The results of this investigation, therefore, indicate that the proposed semi-active neuro-control strategy using MR fluid dampers could be effectively used for control of seismically excited structures.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.3
• /
• pp.226-231
• /
• 2008

In this paper, we propose novel eigenstructure assignment method in full-state feedback for linear time-invariant MIMO system such that directions of some left eigenvectors are exactly assigned to the desired directions. It is required to consider the direction of left eigenvector in designing eigenstructure of closed-loop system, because the direction of left eigenvector has influence over excitation by associated input variables in time-domain response. Exact direction of a left eigenvector can be achieved by assigning proper right eigenvector set satisfying the conditions of the presented theorem based on Moore's theorem and the orthogonality of left and right eigenvector. The right eigenvector should reside in the subspace given by the desired eigenvalue, which restrict a number of designable left eigenvector. For the two cases in which desired eigenvalues are all real and contain complex number, design freedom of designable left eigenvector are given.