• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 1996년도 추계학술대회 논문
• /
• pp.133-137
• /
• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have bevome increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking arre indispensable capabilities for their versatile application. the need to meet demanding control requirement in increasingly complex dynamical control systems under sygnificant uncertainties leads toward design of implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme the ntworks intrduced are neural nets with dynamic neurouns whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure fast in computation and suitable for implementation of real-time control, Performance of the neural controller is illustrated by simulation and experimental results for a SCAEA robot.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.965-969
• /
• 1993

In this paper, the GPC algorithm is developed for ACS(advanced control system). ACS equals to DCS(distributed control system) with some advanced control algorithm, for example, fuzzy logic controller, autotuning. By its embedded structural control language, which uses simple function codes corresponding to each function blocks, it is possible to construct multiloop controller. The developed GPC function code is divided by RLS (recursive least square) parameter estimator and GPC controller. Simulation result show the availability of GPC function code using the control language.

• 전력전자학회논문지
• /
• 제25권6호
• /
• pp.433-441
• /
• 2020

This study proposes a constant power tracking algorithm to compensate for the intermittent characteristics of Photovoltaic connected to a DC micro grid. A PV-ESS integrated module in which distributed ESS is additionally connected is utilized for the proposed algorithm. PV performs P&O MPPT control at all times. To supplement the intermittent characteristics of PV, the proposed constant power tracking algorithm maintains constant power by operating the distributed ESS of the PV-ESS integrated module in accordance with the output state of the PV. By performing PSIM simulation and an experiment, this study verifies the performance of the integrated module of PV-ESS for DC micro grids applying the constant power tracking algorithm.

• 한국정보처리학회논문지
• /
• 제6권11호
• /
• pp.2889-2899
• /
• 1999

To maintain the traditional notion of global serializability in multidatabase systems has been recognized as one of difficult problems due to the autonomy of participating local database systems. In this paper, we propose a global concurrency control algorithm based on the relaxed concurrency control criterion in distributed MDBs, which can be applied to applications in which the database integration has no effect on the integrity constraints. In the proposed algorithm, the process to determine whether a global transaction can be executed or not consists of intra-validation phase and inter-validation phase.

• 제어로봇시스템학회논문지
• /
• 제18권7호
• /
• pp.617-621
• /
• 2012

This paper studies asymptotic consensus problem for linear multi-agent systems. We propose a distributed state feedback control algorithm for solving the problem under fixed and undirected network communication. In contrast with the conventional algorithms that use global information (e.g., graph connectivity), the proposed algorithm only uses local information from neighbors. The principle for achieving asymptotic consensus is that, for each agent, a distributed update law gradually increases the coupling gain of LQR-type feedback and thus, the overall stability of the multi-agent system is recovered by the gain margin of LQR.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
• /
• pp.677-680
• /
• 2003

In this paper, the analysis of practical end-to-end delay in worst case is performed for distributed control system considering the implementation of the system. The control system delay is composed of the delay caused by multi-task scheduling of operating system, the delay caused by network communication, and the delay caused by the asynchronous between them. Through simulation tests based on CAN(Controller Area Network), the proposed end-to-end delay in worst case is validated. Additionally, online clock synchronization algorithm is proposed here for the control system. Through another simulation test, the online algorithm is proved to have better performance than offline one in the view of network bandwidth utilization.

• 조명전기설비학회논문지
• /
• 제15권6호
• /
• pp.73-81
• /
• 2001

분포정수계는 시스템이 두 개 이상의 독립변수로 표현되면서 또한 각 변수에 대한 미분을 포함하는 편미분 방정식으로 표현되므로, 분포정수계에 직접적인 최적제어 논리를 도입하는 것은 매우 어렵다. 본 연구에서 제시하고자하는 새로운 알고리즘은 월쉬 함수 고유특성을 그대로 유지할 수 있는 유한급수전개방법을 이용함과 동시에 계산의 편리성을 위하여 고속 월쉬 변환을 사용하는 것으로서, 본 연구 방법을 사용하면 역행렬 연산이 필요 없게 되므로 기존의 방법에 의해 처리하기 힘든 분포정수계, 선형시변계, 비선형계의 해석 및 제어문제어도 쉽게 적용할 수 있다.

• 정보처리학회논문지B
• /
• 제17B권2호
• /
• pp.157-162
• /
• 2010

본 논문에서는 분산된 거대한 네트워크상의 데이터에서 유용한 정보를 추출하는 새로운 마이그레이션 조절방법을 이용한 유전 알고리즘을 제안한다. 제안된 알고리즘의 주된 아이디어는 부분 개체군 사이에서 개체들의 이동에 필요한 파라미터들을 적응적으로 결정하는 것이다. 또 이동된 개체들이 새로운 부분 개체군에서 도태되지 않고 적응 할 수 있기 위한 방법을 제시한다. UCI 기계학습 관련 데이터 셋에서 중앙 집중적 단일 유전 알고리즘과 제안된 알고리즘을 비교하기 위해 여섯 개의 데이터를 사용했다. 결론적으로 분산 유전 알고리즘을 적용한 특징 부분 집합이 단일 유전 알고리즘을 적용한 것 보다 좋은 성능을 보였다.

• International Journal of Automotive Technology
• /
• 제5권4호
• /
• pp.269-276
• /
• 2004

There has been considerable activity in recent years in developing timing analysis algorithms for distributed real-time control systems. However, it is difficult for control engineers to analyze the timing behavior of distributed real-time control systems because the algorithms was developed in a software engineer's position and the calculation of the algorithm is very complex. Therefore, there is a need to develop a timing analysis tool, which can handle the calculation complexity of the timing analysis algorithms in order to help control engineers easily analyze or develop the distributed real-time control systems. In this paper, an interactive timing analysis tool, called RAT (Response-time Analysis Tool), is introduced. RAT can perform the schedulability analysis for development of distributed real-time control systems. The schedulability analysis can verify whether all real-time tasks and messages in a system will be completed by their deadlines in the system design phase. Furthermore, from the viewpoint of end-to-end scheduling, RAT can perform the schedulability analysis for series of tasks and messages in a precedence relationship.

• 제어로봇시스템학회논문지
• /
• 제20권11호
• /
• pp.1131-1135
• /
• 2014

This paper proposes the enhanced faulty node detection scheme with hybrid algorithm using Markov-chain model on BCH (Bose-Chaudhuri-Hocquenghem) code in naval distributed control networked systems. The probabilistic model-driven approach, on Markov-chain model, in this paper uses the faulty weighting interval factors, which are based on the BCH code. In this scheme, the master node examines each slave-nodes continuously using three defined states : Good, Warning, Bad-state. These states change using the probabilistic calculation method. This method can improve the performance of detecting the faulty state node more efficiently. Simulation results show that the proposed method can improve the accuracy in faulty node detection scheme for real-time naval distributed control networked systems.