• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.187-192
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• 2009

This paper presents a method for designing a robust controller that alleviates disturbance effects and compensates performance degradation owing to the time-delay. Disturbance observer(DOB) approach as a tool of robust control has been widely employed in industry. However, since the Pade approximation of time-delay makes the plant non-minimum phase, the classical DOB cannot be applied directly to the system with time-delay. By using a new DOB structure for non-minimum phase systems together with the Smith Predictor, we propose a new controller for reducing the both effects of disturbance and time-delay. Moreover, the closed-loop system can be made robust against uncertain time-delay with the help of a Pill controller tuning method that is based on a second-order plus dead time modeling technique.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.1
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• pp.117-126
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• 2013

A ship is intended to reach a specified target point in the minimum-time when it travels with a constant speed through a region of strong currents and its heading angle is the control variable. This is called the Zermelo's navigation problem. Its approximate solution for the minimum-time control may be found using the calculus of variation. However, the accuracy of its approximate solution is not high since the solution is based on a table form of inverse relations for some complicated nonlinear equations. To enhance the accuracy, this paper employs the neural network to represent the inverse relation of the complicated nonlinear equations. The accurate minimum-time control is possible with the interpolation property of the neural network. Through the computer simulation study we have found that the proposed method is superior to the conventional ones.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1805-1810
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• 1991

This paper derives the upper and the lower bound of the mean cycle time and the mean service time of the class 6 and the class 4, within which the minimum utilization constrain of the class 4 is guaranteed. Also, derived are conditions under which the token bus network is stable or unstable. These bounds and stable conditions are represented in terms of the high priority token hold time, the token rotation time and the arrival rate and the total station number etc. This paper suggest a parameter tuning algorithm in a partially symmetric token bus network with two classes, which maximizes the token rotation time for a suitable high priority token hold time and at the same time meets the stability condition of the network, the real time constraint and the minimum utilization constraint of the class 4.

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

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.7
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• pp.650-658
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• 2012

This paper proposes a high performance position controller for a driving system using a time optimal controller which has been widely used to control driving systems to achieve desired reference position or velocity in a minimum response time. The main purpose of this research lies in an improvement of transient response performance rather than that of steady-state response in comparison with other control strategies. In order to refine the scheme of time optimal control, Lyapunov stability proofs are incorporated in a controller of standard second order system model. This scheme is applied to the control of a driving system. In view of the simulation and experiment results, the standard second order system model exhibits better minimum-time control performance and robustness than double integral system model does.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.688-697
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• 2017

It is very difficult to solve mathematically the optimal control problem for non - linear mobile robots to move to target points with minimum energy related to velocity, acceleration and angular velocity in minimum time. This paper proposes a method to obtain optimal control gains with which mobile robots move with minimum energy related to velocity, acceleration and angular velocity in minimum time using genetic algorithms. Mobile robots are non - linear systems so that their optimal control gains depend on initial positions. Hence initial positions are divided into some partition points and optimal control gains are obtained at each partition point with genetical algorithms. These optimal control gains are used to train neural networks that generate proper control gains at arbitrary initial position. Finally computer simulation studies have been conducted to verify the effectiveness of the method proposed in this paper.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.7
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• pp.758-768
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• 2005

The ball screw actuated by the electric motor is widely used as an essential actuator for driving the mechanical system by virtue of accuracy and force transmission capability. In this paper, a design of the global sliding mode control is presented to drive the ball screw actuator along the minimum time trajectory, In the proposed control scheme, if the ranges of parametric uncertainties and torque limits of the system are specified, the arrival time of the load along the minimum time trajectory can be estimated. Also, the arriving time at the reference input and the maximum acceleration are expressed in a closed form solution. Conversely, the capacity of a ball screw actuator including the motor can be easily designed if the external load and its transportation time are specified. The superior performance of the proposed control scheme and analysis is validated by the computer simulation and experiments comparing with other sliding mode controllers.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.1
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• pp.14-20
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• 1996

This paper presents a self tuning method of a velocity type PID controller for minimum or non-minimum phase systems with time delays. The velocity type PID control structure is determined in the process of minimizing the variance of the auxilliary output, and self tuning effect is achieved through the recursive least square algorithm at the parameter estimation stage and also through the Robbins-Monro algorithm at the stage of optimizing a design parameter. This method is simple and effective compared with other existing methods[1,2]. Numerical examples are included to illustrate the procedure and to show the performance of the control system.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.220-228
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• 1996

This paper presents a extended stochastic Petri net (ESPN) model for CTN(Circulated Token with No duration) service in the data link layer of IEC/ISA fieldbus. It is assumed that a station on the fieldbus has a specified minimum token holding time, a finite capacity buffer, and one transmitter queue with the highest priority. The mean transmission (or service) time at a station and the mean token rotation time for the symmetric fieldbus system atr derived using the presented SPN model and the moment generating function. These performance measures are represented in terms of the minimum token holding time, the number of stations, the arrival rate of messages, and the mean length of messages. The presented performance measure are validated by computer simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.9
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• pp.1461-1467
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• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.