• International journal of advanced smart convergence
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• v.7 no.3
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• pp.15-22
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• 2018

Nowadays multiple control methods are used in robot control systems. A model, predictor or error estimator is often used as feedback controller to control a robot. While robots have become more and more intensive with algorithms capable to acquiring independent knowledge from raw data. This paper represents experimental results of real time machine learning control that does not require explicit knowledge about the plant. The controller can be applied on a broad range of tasks with different dynamic characteristics. We tested our controller on the balancing problem of a single propeller pendulum. Experimental results show that the use of a supervised machine learning algorithm in a single propeller pendulum allows the stable swing of a given angle.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.1196-1198
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• 2000

In this paper, a new approach for digital feedback control of PWM inverter is proposed, in which an output DB(Dead-Beat) control is achieved combined with a simple disturbance observer. The deadbeat controller, which is constructed multiple loop control scheme for PWM inverter, is used for fast transient response. The disturbance observer can make the disturbances be cancelled by adding feedforward compensating loop in controller. The simulation result show the proposed control scheme can achieved good voltage regulation against large load variations.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2004.05a
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• pp.313-317
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• 2004

This paper shows the structure of a control System for Fluorescent fin Dimming Ballasts. The control system is composed of phase angle controller, a transducer, many dimmable ballasts. For the implementation of the control system, We made a controller and the transducer that transform the phase angle controlled signal into the DC level. we used the conventional dimmable ballast In this ballast, dimming control is achieved by varying the switching frequency that is controlled by the external DC level. This has non-linear illumination characteristics as the dimming control. Therefore we compensate characteristics using the transducer proposed in this paper. We measured the illumination of two FL-28 lamps with dimming controller.

• International Journal of Computer Science & Network Security
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• v.21 no.5
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• pp.175-182
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• 2021

The greenhouse is a complex system. It is subject to multiple input disturbances that are highly dependent on meteorological conditions, which are generally nonlinear and have a great influence on the agricultural production. The objective of this paper is to study the fuzzy logic technique as one of the most efficient technologies to control the greenhouse. The fuzzy logic controller (FLC) was developed to activate the actuator based on a ventilator was installed in an experimental greenhouse to obtain a desired temperature of the microclimate despite the externals disturbances.

• Journal of the Semiconductor & Display Technology
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• v.19 no.4
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• pp.105-111
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• 2020

In most multiple input/output systems, one input affects two or more different outputs. Therefore, there are many inconveniences in using the actual system. In order to solve this problem, a controller that makes an input signal and an output correspond 1:1 is called a decoupling controller. In this paper, I try to implement a relatively simple decoupling controller using a cross-compensator, that is, a compensator that takes an uncorresponding output as an input value. And this cross-compensator has a gain scheduler structure in order to increase the performance. In addition, this system is designed with a distributed control structure using CAN communication, so that it can be manufactured and operated in an easier way when implementing an actual experimental system. The proposed structure is applied to the modified new Arago's disk system and tested, and through this, the effectiveness is confirmed and reported.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.16-24
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• 2022

This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2393-2405
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• 2015

This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.34-41
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• 2011

This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit. A linear model, capable of estimating the dynamic characteristics of the antagonistic system in the operating range of pneumatic artificial muscles, was optimally calculated based on frequency-response results and applied to a multiple simultaneous specification control scheme. Trajectory tracking results showed that the presented multiple simultaneous specification controller, built experimentally by three PD typed sample controllers, satisfied successfully all required control specifications; rising time, maximum overshoot, steady-state error.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.428-437
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• 2006

Many physical systems are hybrid in the sense that they have continuous behaviors and discrete phenomena. In control system with multiple models, switching strategy and stability of the closed-loop system under switching are very important issues. In this paper, a novel adaptive control scheme based on multiple parameter models is proposed to cope with a change in Parameters. Switching strategy guarantees the non-increase in the global control Lyapunov function if the estimation of Lyapunov function value converges. Least-square estimation is used to find the estimated value of the Lyapunov function. Switching and adaptation law guarantees the stability of closed-loop system in the sense of Lyapunov. Simulation results on anti-lock brake system are shown to verify the effectiveness of the proposed controller in view of a large change in system parameters.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.506-513
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• 2002

Distributed control systems(DCS) using fieldbus such as CAN have been applied to process systems but it is very difficult to design the DCS while guaranteeing the given end-to-end constraints such as precedence constraints, time constraints, and periods and priorities of tasks and messages. This paper presents a scheduling method to guarantee the given end-to-end constraints. The presented scheduling method is the integrated one considering both tasks executed in each node and messages transmitted via the network and is designed to be applied to a general DCS that has multiple loops with several types of constraints, where each loop consists of sensor nodes with multiple sensors, actuator nodes with multiple actuators and controller nodes with multiple tasks. An assignment method of the optimal period of each loop and a heuristic assignment rule of each message's priority are proposed and the integrated scheduling method is developed based on them.