• Title/Summary/Keyword: PDA Controller

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PDA/FLC Depth control system design for underwater vehicles (수중운동체를 위한 PDA/FLC 심도 제어시스템 설계)

  • Kim, J.S.;Park, J.L.;Kim, S.M.
    • Journal of the Korean Society for Precision Engineering
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    • v.11 no.5
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    • pp.25-32
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    • 1994
  • A nonlinear control algorithm for the depth control of underwater vehicles is presented. In order to consider the deadzone effect of the flow control valve, a nonlinear fuzzy logic controller (FLC) is synthesized and combined with a linear proportional-derivative-acceleration (PDA) controller, which is called the PDA/FLC controller. And to show the effectiveness of the PDA/FLC control system, it is compared with the linear PDA control system through computer simulation. It is found that the PDA/FLC control system is suitable one to maintain the desirable depth of underwater vehicles with deadzone.

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PDA/FLC depth control of underwater vehicles with deadzone (사역대를 갖는 수중운동체의 PDA/FLC 심도제어)

  • 김종식;정재호;최중락
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.1080-1085
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    • 1993
  • A nonlinear control algorithm for the depth control of underwater vehicles is presented. In order to consider the deadzone effect of the flow control valve, a nonlinear fuzzy logic controller (FLC) is synthesized and combined with a linear proportional-derivative-acceleration (PDA) controller, which is called, the PDA/FLC controller. And, to show the effectiveness of the PDA/FLC control system, it is compared with the linear PDA control system through computer simulation. It is found that the PDA/FLC control scheme is a suitable one to maintain the desirable depth of underwater vehicles with deadzone.

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I-PDA Controller Designed by CDM

  • Numsomran, Arjin;Sriratana, Witsarut;Julsereewong, Prasit;Kongratana, Viriya;Tirasesth, Kitti
    • 제어로봇시스템학회:학술대회논문집
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    • 1999.10a
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    • pp.284-287
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    • 1999
  • A design of I-PDA controller for the third order plant by CDM is presented in this paper. Using CDM in the controller design procedures, the step responses of the controlled system with the I-PDA controller satisfied both transient and steady state response specifications without adjustment, and also satisfy the requirements of stability, faster response and robustness. The step responses of the controlled system using I-PDA controller are coiniciding to the ones using PIDA controller, and the integral gain of the I-PDA controller also equals to the prefilter gain of the PIDA controller designed by CDM. The effect of the disturbances can also be lastly eliminated. The fast step response of the controlled system can be obtained by reducing the equivalent time constant. MATLAB's numerical results show that the desired specifications of the controlled system using I-PDA controller is obtained. Furthermore, the results also show a good robustness that the desired performances of the controlled system have no significant changed when the plant parameters are varied.

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I-PDA controller design for Robotic Manipulator based on Coefficient Diagram Method with FFC

  • Lee, Young-Su;Kim, Dae-Hyun;Kim, Seung-Chul;Lim, Young-Do
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.594-597
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    • 2005
  • In this paper, I-PDA controller based on Coefficient Diagram Method incorporating feedforward controller is applied by robotic manipulators. Robotic manipulator models contain uncertain elements, which are not known exactly. Therefore, the dynamics of robotic manipulators are generally classified as uncertain dynamic system. The controller considered for the robotic manipulators need to move payloads of different masses from one point to another with good balance of the stability and response, consequently we propose I-PDA controller based on Coefficient Diagram Method incorporating FFC. The effectiveness of the controller for different system type of robotic manipulators is demonstrated by the simulation results.

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Design of I-PDA Controller Incorporating FFC for Flow Control Systems

  • Cahyadi, A.I.;Khuakoonratt, N.;Benjanarasuth, T.;Ngamwiwit, J.;Komine, N.
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.1007-1011
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    • 2003
  • In this paper, a design of I-PDA controller by CDM to control a flow process whose structure is first order lag plus a dead time is introduced. The factor of dead time of the process is approximated by second order Pade approximation in order to get a third order system. The simulations show that both of the transient and steady state specifications can be fulfilled. However, the transient response of the I-PDA control system still has long rise time. Then, a feedforward controller (FFC) with two adjustable parameters and one derivative time is introduced into I-PDA control system for improving the speed of the system response. It is shown, from the simulation results, that the performance of the I-PDA control system with suitable FFC has shorter rise time and no overshoot, while settling time remains almost the same. The performance comparison of the proposed control system with the PI control system with and without FFC is also made.

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I-PDA Controller Designed by CDM Incorporating FFC for Two-Inertia System

  • Khuakoonrat, Nopnarong;Benjanarasuth, Taworn;Isarakorn, Don;Ngamwiwit, Jongkol;Komine, Noriyuki
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1833-1837
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    • 2004
  • The two-inertia system, which has the torsion vibration, is typically found in several industrial applications. This torsion vibration will effect the quality of the rolled material as well as the stability of the drive system. Thus the speed and torsion vibration of the system have to be properly controlled. This paper, I-PDA controller designed by Coefficient Diagram Method to control a two-inertia system is proposed. The experimental result shows that both of transient and steady state specification can be fulfilled but the transient response still has long rise time. In order to improve the speed of the system response, a phase lag structure of feedforward controller is introduced to I-PDA control system. It is shown that the performance of the I-PDA control system with suitable FFC has shorter rise and settling times, no overshoot and the torsion vibration can be suppressed.

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A Simulation of I-PDA Controller for Induction Motor

  • Choo, Yeon-Cyu;Kim, Seung-Cheol;Lee, Ihn-Yong;Cho, Yong-Sung
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.1521-1523
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    • 2005
  • PID controller is applied mostly to two-order system. In third-order or higher- system, it's impossible to get high response quality because of having more zero point than the number of zero point being in the PID controller. To solve those, Jung & Dorf suggested a new type of PIDA controller and solved problen of a third-order system.. But, as the result of getting step response using PIDA controller, rising time is very quickly but wide overshoot is happened. Beside designing PIDA controller with using CDM(Coefficient Diagram Method) of Shunji Manabe decreases overshoot to desired but rising time is very slow. Therefore this paper suggest a I-PDA controller for low overshoot and fast responsibility. This paper applied designed PD-PIDA controller to position control of 3-Phase induction motor.

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Universal Remote Controller for Internet Appliance using PDA (PDA를 이용한 인터넷 정보가전용 유니버설 리모트 컨트롤러)

  • 김동균;전병찬;조성배;이상정
    • Proceedings of the Korean Information Science Society Conference
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    • 2003.04d
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    • pp.385-387
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    • 2003
  • 본 논문에서는 블루투스와 COMA용 무선단말 기능이 내장된 PDA를 사용하여 인터넷 정보가전용 유니버설 리모트 컨트롤러를 설계 구현한다. PDA 단말로 정보가전을 원격 제어하고 모니터링하기 위해 XML과 CDMA의 SMS 정보가전 메시지 형식을 설계한다. 또한 흠 서버에는 블루투스와 CDMA를 포팅하고 정보가전 명령 및 메시지 매핑과 PDA 상에 유니버설 리모트 컨트롤러 인터페이스를 구현하여 테스트한다.

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PDA-based Supervisory Control of Mobile Robots (PDA를 이용한 이동로봇 제어)

  • 정성호;김성주;김용택;전홍태
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 2002.05a
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    • pp.105-108
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    • 2002
  • This paper represents the mobile robot control system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.

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PDA-based Supervisory Control of Mobile Robot (PDA를 이용한 이동로봇 제어)

  • Kim, Seong-Joo;Jung, Sung-Ho;Kim, Yong-Taek;Jeon, Hong-Tae
    • Journal of the Korean Institute of Intelligent Systems
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    • v.12 no.4
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    • pp.379-384
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    • 2002
  • This paper represents the mobile robot system remote controlled by PDA(personal digital assistance). So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by PDA. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. The information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.