• 전기학회논문지
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• 제65권7호
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• pp.1270-1276
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• 2016

This paper proposes the controller design for regulation control of two-link robot arm using sum of squares (SOS) control method that takes into account the input constraint. The existing studies of two link robotic arm system used a linear model of all the non-linearity of the system is linearized. For a linear controller, since the model of the system is simplified, it is possible to design a controller in consideration of constraints on the disturbance. However, there is a limit to the performance using a linearized model for a system with a complex nonlinear properties. To compensate for this in the case of using a fuzzy LMI method, it is necessary to have a large number of linear models and thus there is a disadvantage that the system becomes complicated. To solve these problems, we represents a two-link robot arm system with a polynomial model using a Taylor series expansion and design the controller considering the case where the magnitude of the control input is limited using SOS method. We demonstrate by simulations the feasibility of the proposed algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• KIEE International Transaction on Systems and Control
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• 제2D권2호
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• pp.108-114
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• 2002

This paper describes the design of a robust adaptive controller for a nonlinear dynamical system with unknown nonlinearities. These unknown nonlinearities are approximated by multilayered neural networks (MNNs) whose parameters are adjusted on-line, according to some adaptive laws far controlling the output of the nonlinear system, to track a given trajectory. The main contribution of this paper is a method for considering input constraint with a rigorous stability proof. The Lyapunov synthesis approach is used to develop a state-feedback adaptive control algorithm based on the adaptive MNN model. An overall control system guarantees that the tracking error converges at about zero and that all signals involved are uniformly bounded even in the presence of input saturation. Theoretical results are illustrated through a simulation example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2548-2551
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• 2005

In this paper, a robust receding horizon finite impulse response(FIR) filter is proposed for a class of linear discrete time systems with uncertainty satisfying an integral quadratic constraint. The robust state estimation problem involves constructing the set of all possible states at the current time consistent with given system input, output measurements and the integral quadratic constraint.

• 전기학회논문지
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• 제65권12호
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• pp.2046-2052
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• 2016

Ramp metering is one of the most efficient and widely used control methods for an intelligent transportation management system on a freeway. Its objective is to control and upgrade freeway traffic by regulating the number of vehicles entering the freeway entrance ramp, in such a way that not only the alleviation of the congestion but also the smoothing of the traffic flow around the desired density level can be achieved for the maintenance of the maximum mainline throughput. When the cycle of the signal detection is larger than that of the system process, the density tracking problem needs to be considered in the form of the discrete-time system. Therefore, a discrete-time sliding mode control method is proposed for the ramp metering problem in the presence of both input constraint in the on-ramp and exogenous disturbance in the off-ramp considering the random behavior of the driver. Simulations were performed using a validated second-order macroscopic traffic flow model in Matlab environment and the simulation results indicate that proposed control method can achieve better performance than previously well-known ALINEA strategy in the sense that mainstream flow throughput is maximized and congestion is alleviated even in the presence of input constraint and exogenous disturbance.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제7권9호
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• pp.2120-2133
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• 2013

In this paper, we address the problem of linear minimum mean-squared error (MMSE) transmitter design for the cognitive radio (CR) multi-user multiple-input single-output (MU-MISO) broadcasting channel (BC), where the cognitive users are subject to not only a sum power constraint, but also a interference power constraint. Evidently, this multi-constraint problem renders it difficult to solve. To overcome this difficulty, we firstly transform it into its equivalent formulation with a single constraint. Then by utilizing BC-MAC duality, the problem of BC transmitter design can be solved by focusing on a dual MAC problem, which is easier to deal with due to its convexity property. Finally we propose an efficient two-level iterative algorithm to search the optimal solution. Our simulation results are provided to corroborate the effectiveness of the proposed algorithm and show that this proposed CR MMSE-based scheme achieves a suboptimal sum-rate performance compared to the optimal DPC-based algorithm with less computational complexity.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.122-131
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• 2004

A constraint equation-based control law design for large angle attitude maneuvers of flexible spacecraft is addressed in this paper The tip displacement of the flexible spacecraft model is prescribed in the form of a constraint equation. The controller design is attempted in the way that the constraint equation is satisfied throughout the maneuver. The constraint equation leads to a two-point boundary value problem which needs backward and forward solution techniques to satisfy terminal constraints. An observer-based tracking control law takes the constraint equation as the input to the dynamic observer. The observer state is used in conjunction with the state feedback control law to have the actual system follow the observer dynamics. The observer-based tracking control law eventually turns into a stabilized system with inherent nature of robustness and disturbance rejection in LQR type control laws.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1655-1658
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• 1991

This paper considers the design and analysis of one-step ahead optimal and adaptive controllers, under the restriction that a known constraint on the input amplitude is imposed. It is assumed that the discrete-time single-input, single-output system to be controlled is linear, except for inequality constraints on the input. The objective function to be minimized is an one-step quadratic function, where polynomial weights on the input and output are included. Both the known parameter and unknown parameter (indirect adaptive controller) cases are examined.

• 전기학회논문지
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• 제61권7호
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• pp.1032-1040
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• 2012

This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

• Journal of Electrical Engineering and Technology
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• 제4권4호
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• pp.566-569
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• 2009

In this paper, we propose a less conservative a linear matrix inequality (LMI) condition for the constrained robust model predictive control of systems with input constraints and polytopic uncertainty. Systems with input constraints are represented as perturbed systems with sector bounded conditions. For the infinite horizon control, closed-loop stability conditions are obtained by using a parameter dependent Lyapunov function. The effectiveness of the proposed method is shown by an example.