• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.362-366
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• 1998

This paper proposes a fast H$\sub$$\infty$/ gain scheduled controller that stabilizes the uncertain nonlinear system with exogenous signals. The controller is constructed at a distinct and fixed value of exogenous signals using H$\sub$$\infty$/ syn-thesis methodology. Then the constructed controller set is switched for the wide range of variation of exogenous signals. Using the derivative gain, the number of constructed and engaged controllers for the fast varying exogenous signal is reduced.

• 한국통신학회논문지
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• 제33권2A호
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• pp.191-197
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• 2008

시변 무선채널에서 버스트한 패킷을 효율적으로 전송하기 위해서는 다중사용자 다이버시티 이득을 극대화할 수 있는 opportunistic 스케줄링 기법이 중요한 기술적 요소가 되고 있다. 본 논문에서는 무선 LAN 네트워크에 적용 가능한 분산화된 opportunistic 스케줄링기법을 제안하였다. Opportunistic 스케줄링방식의 하나인 비례공정 알고리즘은 중앙집중형 네트워크에 적용되었으나 본 논문에서는 확률적 방식을 이용하여 분산화된 방식의 비례공정 스케줄링 (DPFS: Distributed Proportional Fair Scheduling) 방식과 매체 접근제어 방식을 설계하였다. 제안한 DPFS방식에서는 각각의 수신기들은 채널상태를 파악한 후 독립적으로 자신의 우선순위를 확률적 방법으로 계산하기 때문에 모든 수신기의 채널 정보를 수집하는데 필요한 오버헤드를 크게 줄일 수 있다. 성능분석을 위하여 시뮬레이션을 수행하였으며 제안된 스케줄링 방식이 기존의 분산 스케줄링방식에 비하여 전송률 성능에서 우수함을 보이고 있으며 관련 파라미터를 조절함으로써 공평성과 전송률성능에 대한 제어가 가능함을 보이고 있다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.114-116
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• 2004

The temperature profile control issue in the resistive welder for the electronic parts is discussed. The average current of the welder tip depends on the phase(on-time) of the AC power and the tip temperature maintains or increases/decreases depending on the integral of the current square and heat loss, The basic PID control algorithm with thermo-couple feedback is difficult to track the temperature profile for various parts and optimal gain changes much. So constant gain PID algorithm is not enough to cover various electronic parts welding and a Fuzzy-PID automatic gain tuning algorithm is devised and added to conventional PID algorithm and this hybrid control architecture is implemented and the experimental results are shown.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제54권12호
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• pp.569-575
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• 2005

This paper proposes a gain scheduled control technique using time-delay for the nonlinear system with plant uncertainties and unexpected disturbances. The time delay-based gain scheduled control depends on a direct estimation of a function representing the effect of uncertainties. The information from the estimation is used to cancel the unknown dynamics and the unexpected disturbances simultaneously. The proposed estimation scheme with a finite convergence time is formulated in order to estimate the unknown scheduling variable variation. In other words, the time delay-based gain scheduled control uses the past observation of the system's response and the control input to directly modify the control actions rather than to adjust the controller gains or to identify system parameters. It has a simple structure so as to minimize the computational burden. The benefits of this proposed scheme are demonstrated in the simulation of an electromagnetic suspension system with plant uncertainties and external disturbances, and the proposed controller is compared with the conventional state feedback controller.

• 전자공학회논문지
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• 제51권4호
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• pp.210-217
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• 2014

본 논문에서는 한 바퀴 구동 이동로봇, GYROBO,에 대한 제어를 실험적으로 수행하였다. 이전 자이로보는 제자리에서 밸런싱을 할 경우, 내부의 짐벌이 한 쪽으로 계속 회전하는 현상이 발생하여 결국 넘어지게 되는 결과를 초래하였다. 이 구조적 문제를 보완하여 균형 제어에 대한 실험적 연구를 수행하였다. 실험을 통해 구한 게인값을 사용하는 게인 스케줄링 방법을 통해 쏠리는 현상에 대한 해결방법을 찾았고, 자세제어를 더 안정화 시켰다. 또한 주행이 가능한지를 확인하기 위해 직선 경로 주행실험을 하였다.

• 대한전자공학회논문지TC
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• 제47권12호
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• pp.61-68
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• 2010

본 논문에서는 WCDMA LCR-TDD 시스템에서 멀티레벨 제어 신호 방식을 적용한 하향 링크 ARQ-TSTD (ARQ-aided Time Switched Transmit Diversity)의 성능을 계산한다. 제안된 ARQ-TSTD는 멀티레벨 제어 선호 방식을 적용하여 수신측이 에러체크를 수행한 후 송신측으로 기존의 응답신호 (ACK or NACK or 신호) 이외에 NACK2 선호를 정의하고 이를 피드백한다. 송신측은 NACK2 신호를 본 논문에서 제안한 전송지연과 다중사용자 스케줄링 방식을 적용하는데 활용한다. 시뮬레이션 결과는 3km/h의 이동국 속도에서 프레임 오류 확률 (Frame Error Rate)이 10%일 때 5개 서브프레임 전송지연 방식, 2명의 사용자 스케줄링 방식이 각각 약 1.3dB, 약1.4dB의 성능향상이 있었다. 그리고 Eb/N0=-3dB에서 각각 약 14% 11.5%의 수율 성능 이득이 있었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.449-454
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• 1994

This paper describes new PID control methods based on the fuzzy logic. PID gains are retuned after evaluating control performances of transient responses in terms of performance features. The retuning procedure is based on fuzzy rules and reasoning accumulated from the knowledge of experts on PID gain scheduling. For the case that the retuned PID gains result in worse CLDR (characteristics of load disturbance rejection) than the initial gains, an on-line tuning scheme of the set-point weighting parameter is, proposed. This is based on the fact that the set-point weighting method efficiently reduce either overshoot or undershoot without any degradation of CLDR. The set-point weighting parameter is adjusted at each sampling instant by the fuzzy rules and reasoning. As a result, better control performances were achived in comparison with die controllers tuned by the Z-N (Ziegler-Nichols) parameter tuning formula or by the fixed set-point weighting parameter.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1218-1225
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• 2008

This paper presents the design of a neural network based adaptive control for missile is presented. The application model is Exocet MM40, which is derived from missile DATCOM database. Acceleration of missile by tail Fin control cannot be controllable by DMI (Dynamic Model Inversion) directly because it is non-minimum phase system. So, the inner loop consists of DMI and NN (Neural Network) and the outer loop consists of PI controller. In order to satisfy the performances only with PI controller, it is necessary to do some additional process such as gain tuning and scheduling. In this paper, all flight area would be covered by just one PI gains without tuning and scheduling by applying mixture control technique of conventional controller and NN to the outer loop. Also, the simulation model is designed by considering non-minimum phase system and compared the performances to distinguish the validity of control law with conventional PI controller.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.199-207
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• 2002

In this paper, a self-tuning gain-scheduled skyhook control for semi-active suspension systems is investigated. The dynamic characteristics of a continuously variable damper including electro-hydraulic pressure control valves is analyzed. A 2-d.o.f. time-varying quarter-car model that permits variations in sprung mass and suspension spring coefficient is considered. The self-tuning skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters. The skyhook gains are gain-scheduled in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype is discussed. Experimental results using a 1/4-ear simulator are discussed. Also, a suspension ECU prototype targeting real implementation is provided.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2000년도 춘계학술대회 논문집(Proceeding of the KOSME 2000 Spring Annual Meeting)
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• pp.1-5
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• 2000

The conventional PID controller has been extensively used to speed control of marine diesel engines. However one of drawbacks is that its control performance can be degraded if the parameters are fixed on whole operating points. In this paper a scheme for integrating PID control and the fuzzy technique is presented to control speed of a marine diesel engine on whole operating points. At first the PID controller is designed at each speed mode whose parameters are optimally adjusted using a genetic algorithm, Then fuzzy "if-then" rules combine the controllers as a consequence part. To demonstrate the effectiveness of the proposed fuzzy controller a set of simulation works on a marine diesel engine are carried out.rried out.