• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.534-537
• /
• 1995

In this paper, we propose a control strategy for a class of nonholonomic systems. A system with nonholonomic constraint is called a nonholonomic system, and as Brockett showed, the equilibrium of such systems can not be stabilized with any continuous static state feedbacks even though the system is controllable in the sense of nonlinear. A control strategy we propose is transforming this system into time-state control form by coordinate transformation and input transformation. We will apply this control strategy to the motion control of a rigid ball that is held between two parallel plates.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.492-492
• /
• 2000

This paper proposes LQ optimal controller design method based on the modal decomposition. Here, the design problem of linear time-invariant systems is considered by using pencil model. The mathematical model based on matrix pencil is one of the most general representation of the system. By adding some conditions the model can be reduced to traditional system models. In pencil model, the state feedback is considered as an algebraic constraint between the state variable and the control input variable. The algebraic constraint on pencil model is called purely static mode, and is included in infinite mode. Therefore, the information of the constant gain controller is included in the purely static mode of the augmented system which consists of the plant and the control conditions. We pay attention to the coordinate transformation matrix, and LQ optimal controller is derived from the algebraic constraint of the internal variable. The proposed method is applied to the numerical examples, and the results are verified.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.9
• /
• pp.845-853
• /
• 2012

We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.

• Journal of the Institute of Electronics Engineers of Korea SD
• /
• v.39 no.8
• /
• pp.84-91
• /
• 2002

In this paper, we proposed a CLB-based CPLD technology mapping algorithm for power minimization under time constraint in combinational circuit. The main idea of our algorithm is to exploit the "cut enumeration and feasible cluster" technique to generate possible mapping solutions for the sub-circuit rooted at each node. In our technology mapping algorithm conducted a low power by calculating TD and EP of each node and decomposing them on the circuit composed of DAG. It also takes the number of input, output, and OR-term into account on condition that mapping can be done up to the base of CLB, and so it generates the feasible clusters to meet the condition of time constraint. Of the feasible clusters, we should first be mapping the one that h3s the least output for technology mapping of power minimization and choose to map the other to meet the condition of time constraint afterwards. To demonstrate the efficiency of our approach, we applied our algorithm to MCNC benchmarks and compared the results with those of the exiting algorithms. The experimental results show that our approach is shown a decrease of 46.79% compared with DDMAP and that of 24.38% for TEMPLA in the power consumption.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.83.4-83
• /
• 2002

$\bullet$ We present a state-feedback RHC for discrete-time TS fuzzy systems with input constriants. $\bullet$ The controller employ the current and one-step past information on the fuzzy weighting functions. $\bullet$ It is obtained from the finite horizon optimization problem with the invariant ellipsoid constraint $\bullet$ Under parameterized LMI conditions on the terminal weighting matrix $\bullet$ The closed-loop system stability is guaranteed. $\bullet$ The parameterized linear matrix inequalities are relaxed to a finite number of solvable LMIs.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.9
• /
• pp.2153-2161
• /
• 1993

Self-tuning control algorithms for an input-amplitude constrained system are developed and implemented. Magnitude of control input for small motors is generally restricted to narrow bound due to actuator saturation. The gain-adjusted control algorithm and the bounded-gain control algorithm proposed in this study yield smoother control input variations within the magnitude constraints comparing with the existing Clarke's suboptimal control algorithm. In the gain-adjusted control algorithm, the feedforward gain is adjusted using maximum gain, while in the bounded-gain control algorithm, the feedforward gain is bounded using weighting factor. For the DC servo motor control, the system performances of the proposed algorithms are compared with those of the existing algorithm by computer simulation and experiment. It is shown that the input variations of the proposed algorithms are smoother as compared with the existing algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1986.10a
• /
• pp.113-118
• /
• 1986

The feedback controllers for the active vibration control of elastic systems are developed using optimal regulator, optimal tracking, time optimal and noise observer algorithms. Using the modal analysis of the elastic systems, the effects of the actuator positions, the input weighting factor and the magnitude of the constraint of the actuator force are investigated.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.3
• /
• pp.177-182
• /
• 2013

This paper proposes an input-constrained reference tracking control of a converter model. To this end, first it is shown that the bilinear converter model can be equivalently represented by a linear uncertain model belonging to a polytopic set. Then, an input-constrained tracking control scheme for the linear uncertain model is designed based on recently proposed tracking control scheme. The control scheme yields not only a stabilizing control gain but also a feasible and invariant set for the converter model. Finally, simulation results show that the state trajectory always stays in the feasible and invariant set and that the output tracks the given reference while satisfying the input constraint.

• Proceedings of the IEEK Conference
• /
• 2001.09a
• /
• pp.73-76
• /
• 2001

It is well-known that the convergence rate gets worse when an input signal to an adaptive filter is correlated. In this paper we propose a new adaptive filtering algorithm that makes the convergence rate highly improved even for highly correlated input signals. By introducing an orthogonal constraint between successive input signal vectors, we overcome the slow convergence problem caused by the correlated input signal. Simulation results show that the proposed algorithm yields highly improved convergence speed and excellent tracking capability under both time-invariant and time varying environments, while keeping both computation and implementation simple.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.16 no.2
• /
• pp.140-146
• /
• 2016

This paper proposes a control method of the Segway with unknown control coefficient and input saturation. To design a simple controller for the Segway with the model uncertainty, the prescribed performance function is used. Furthermore, an auxiliary variable is introduced to deal with unknown time-varying control coefficient and input saturation problem. Due to the auxiliary variable, function approximators are not used in this paper although all model uncertainties are unknown. Thus, the controller can be simple. From the Lyapunov stability theory, it is proved that all errors of the proposed control system remain within the prescribed performance bounds. Finally, the simulation results are presented to demonstrate the performance of the proposed scheme.