• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1322-1325
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• 1997

A new feedback control law design techniqed usign of-off thrusters for the rotational maneuver of a flexible arm is discussed in this study. a two state on-off thruster actuator is taken as a primary actuation device for theis study. The on-off thruster operation is emulated in conjunction with the conventioal minimum-time trackig control law. The actuator input region is divided into two separate parts ; one is constant input and the other is time varying tegion. the new control law has potential applicatioin for the relatively low frequency structure such as large flexible space structure being currently used in various space echnology areas.

• 한국국방경영분석학회지
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• 제24권2호
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• pp.162-169
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• 1998

This study presents an single machine scheduling algorithm minimize lateness of product by controlling machining speed. Generally, production scheduling uses the information of process planning. But the production scheduling algorithm has not considered the control of machining speed in its procedures. Therefore, the purpose of this study is to consider the machining speed in production scheduling algorithm for efficient production scheduling. Machining time and machining cost required to manufacture a piece of a product are expressed as a unimodal convex function with respect to machining speed, so it has minimal point at minimum time speed or the minimum cost speed. Therefore, because of considering the machining cost, the control of machining speed for the algorithm is executed between minimum speed and maximum speed. An example is demonstrated to explain the algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.30.6-30
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• 2001

We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.418-418
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• 2000

This paper proposes a path planning algorithm for mobile robot. To generate an optimal path and minimum time path for a mobile robot, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance between start and goal point, the path is revised to find the minimum time path by path-smoothing algorithm. Simulation results show that the proposed algorithms are more effective.

• International Journal of Aeronautical and Space Sciences
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• 제10권1호
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• pp.46-58
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• 2009

This paper deals with design procedure of online guidance and control law for future missiles that requires agile maneuverability. For the purpose, the missile with high powered side thruster is proposed. The guidance and control law for such missiles is discussed from a point of view of optimal control theory in this paper. Minimum time problem is solved for the approximated system. It is derived that bang- bang control is optimal input from the necessary conditions of optimal solution. Feedback guidance without iterative calculation is useful for actual systems. In this paper. multiple design point method is applied to design feedback gains and feed forward inputs of the guidance and control law. The numerical results show that the proposed guidance and control law has a high -performance for wide-ranging boundary conditions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1359-1361
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• 1996

This paper describes a design of real time fuzzy controller using Minimum fuzzy control Rule Selection Method(MRSM). The control algorithm of dynamic systems needs less computation time and memory. To reduce the computation time of fuzzy logic controller, minimum number of rules are to be selected for the fuzzy input variable. The universe of discourse is divided by the number of linguistic labels to allocate the assigned membership function to the fuzzy input variables. In this case, since fuzzy input variables are continuous, scale factor SU is tuned independently. According to increment of SU control surface is improved to adapt the change of system parameter. At this, crisp control surface is increased. With the increament of crisp control surface, fuzzy control surface is reduced. When error state deviates from desirable error state, crisp control surface is more useful than fuzzy control surface for obtaining fast rising time.

• 한국조명전기설비학회지:조명전기설비
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• 제7권4호
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• pp.51-58
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• 1993

리니어 직류 모터의 고속, 고정도 위치제어에 대하여 포물선형 스위칭 함수에 최단시간 제어 방식을 제안하였다.제안한 방식은 간단한 구성으로 최단시간 제어를 실현한기 위하여 뱅-뱅 제어의 절환을 위상면에 설정한 포물선형 스위칭 함수상에서 행하는 것이다. 그러나 시스템의 모델링 오차등에 의하여 슬라이딩 모드를 발생시키므로 최단시간 제어를 위해 반복실험에 의하여 1회의 절환에 의한 뱅-뱅 제어를 실현하였다. 그 후 궤환 제어에 의하여 리니어 직류모터를 목표점에 정지시켰다.

• 한국지능시스템학회논문지
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• 제2권3호
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• pp.29-39
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• 1992

We investigate a systematic design procedure of automatic rule generation of fuzzy logic based controllers for highly nonlinear dynamic systems such as an engine dynamic modle. By "automatic rule generation" we mean autonomous clustering or collection of such meaningful transitional relations from one conditional subspace to another. During the design procedure, we also consider optimaly control strategies such as minimum squared error, near minimum time, minimum energy or combined performance critiera. Fuzzy feedback control systems designed by our method have the properties of closed-loop stability, robustness under parameter variabitions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller dwsign to a highly nonlinear model of engine idling speed control.d control.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1195-1198
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• 1993

We investigate a systematic design procedure of automated rule generation of fuzzy logic based controller for uncertain dynamic systems such as an engine dynamic model.“Automated Tuning”means autonomous clustering or collection of such meaningful transitional relations in the state-space. Optimal control strategies are included in the design procedures, such as minimum squared error, minimum time, minimum energy or combined performance criteria. Fuzzy feedback control systems designed by the cell-state transition method have the properties of closed-loop stability, robustness under parameter variabtions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller design to a highly nonlinear model of engine idle speed contr l.

• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.56-64
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• 2013

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.