• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.227-230
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• 1998

In this paper, we propose the design method of fuzzy robust H$\infty$ controller for the uncertain nonlinear discete-time systems with time delay. First, we represent a nonlinear plant with a modified T-S(Takagi-Sugeno) fuzzy model. Then design method utilizing the concept of PDC (parallel distributed compensation) is employed. For the modified T-S fuzzy model with uncertainty and delay, the sufficient condition of the quadratic stabilization with an H$\infty$ norm bound is presented in terms of Lyapunov stability theory and fuzzy robust H$\infty$ controller design method is given by LMI(linear matrix inequality) approach. Also an illustrative example is given to demonstrate the result of the proposed method.

• Advances in Computational Design
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• v.5 no.3
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• pp.233-260
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• 2020

The main purpose to introduce model based controller in proposed control technique is to provide better and fast learning of the floating dynamics by means of fuzzy logic controller and also cancelling effect of nonlinear terms of the system. An iterative adaptive dynamic programming algorithm is proposed to deal with the optimal trajectory-tracking control problems for autonomous underwater vehicle (AUV). The optimal tracking control problem is converted into an optimal regulation problem by system transformation. Then the optimal regulation problem is solved by the policy iteration adaptive dynamic programming algorithm. Finally, simulation example is given to show the performance of the iterative adaptive dynamic programming algorithm.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.2
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• pp.187-193
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• 2003

In this paper, a systematic design method of the intelligent PAM fuzzy controller for nonlinear systems using the efficient tools-Linear Matrix Inequality and the intelligent digital redesign is proposed. In order to digitally control the nonlinear systems, the TS fuzzy model is used for fuzzy modeling of the given nonlinear system. The convex representation technique also can be utilized for obtaining TS fuzzy models. First, the analog fuzzy-model-based controller is designed such that the closed-loop system is globally asymptotically stable in the sense of Lyapunov stability criterion. The simulation results strongly convince us that the proposed method has great potential in the application to the industry.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.157-157
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• 2000

In the fuzzy control for the multi-variable system, it is difficult to obtain the fuzzy rule. Therefore, the parallel structure of the independent single input-single output fuzzy controller using a pairing between the input and output variable is applied to the multi-variable system. The concept of relative gain matrix is used to obtain the input-output pairs. However, among the input/output variables which are not paired the interactive effects should be taken into account. these mutual coupling of variables affect the control performance. Therefore, for the control system with a strong coupling property, the control performance is sometimes lowered. In this paper, the effect of mutual coupling of variables is considered by tile introduction of a simple compensator. This compensator adjusts the degree of coupling between variables using a neural network. In this proposed neuro-fuzzy controller, the Neural network which is realized by back-propagation algorithm, adjusts the mutual coupling weight between variables.

• Proceedings of the KIEE Conference
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• 2001.07e
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• pp.90-94
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• 2001

The aim of this paper is twofold: The one is to design BLDC motors for an electric bicycle and the other is to develop a controller of the BLDC motors. A new BLDC Motor has a permanent magnet rotor in which the magnetic arrangement is radial to the shaft and integral to the rotor laminations instead of mounted on the perimeter of the rotor. This technique concentrates flux, giving a higher flux density than a surface-mounted PM motor and has the increase of reluctance torque. The stator of BLDC motor has parallel winding instead of interconnected wye-connection winding, allowing multi-phase separate independent controllability. It gets much more high power than wye-connection at same low voltage. The proposed controller has a technique of exited with modulation(EWM) and one H-bridge and two photo sensors per phase. Experimental results show the performance of the proposed BLDC motors for an electric bicycle.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.993-1000
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• 2001

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of robot manipulator impose computa- tional burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range. nonlinear coefficient matrices can be approxiamted to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the modeling errors disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full inverse dynamics is not easy to implement.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.916-921
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• 2002

We presents a new method of constructing an equivalent T-S fuzzy model by using the sum of products of linearly independent scalar functions from nonlinear dynamics. This method exactly expresses nonlinear systems and automatically determines the number of rules. We design a stabilizing controller f3r ul inverted pendulum system by using the concep of parallel distributed compensation (PDC) and linear matrix inequalities (LMIs) based on the proposed T-S fuzzy modeling method. We show effectiveness of a systematically designed fuzzy controller based on the proposed T-S fuzzy modeling method through the simulation and experiment of an inverted pendulum system.

• Journal of Power Electronics
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• v.14 no.3
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• pp.421-431
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• 2014

A DSP-based self-adaptive proportional-integral (PI) controller to control a DC-DC converter is proposed in this paper. The full-bridge topology is adopted here to obtain higher power output capability and higher conversion efficiency. The converter adopts the zero-voltage-switching (ZVS) technique to reduce the conduction losses. A parallel secondary active clamp circuit is added to deal with the voltage overshoot and ringing effect on the transformer's secondary side. A self-adaptive PI controller is proposed to replace the traditional PI controller. Moreover, the designed converter adopts the constant-current and constant-voltage (CC-CV) output control strategy. The secondary active clamp mechanism is discussed in detail. The effectiveness of the proposed converter was experimentally verified by an IGBT-based 10kW prototype.

• Journal of Power Electronics
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• v.14 no.4
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• pp.742-753
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• 2014

In this paper, a new continuously and linearly controlled capacitive static VAR compensator is proposed for the automatic power factor correction of inductive single phase loads in 220V 50Hz power system networks. The compensator is constructed of a harmonic-suppressed TCR equipped with a new adaptive current controller. The harmonic-suppressed TCR is a new configuration that includes a thyristor controlled reactor (TCR) shunted by a passive third harmonic filter. In addition, the parallel configuration is connected to an AC source via a series first harmonic filter. The harmonic-suppressed TCR is designed so that negligible harmonic current components are injected into the AC source. The compensator is equipped with a new adaptive closed loop current controller, which responds linearly to reactive current demands. The no load operating losses of this compensator are negligible when compared to its capacitive reactive current rating. The proposed system is validated on PSpice which is very close in terms of performance to real hardware.

• Proceedings of the KIEE Conference
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• 1993.07b
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• pp.870-872
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• 1993

With the using the microprocessor, this paper presents DC servo motor control characteristics by Self-Tuning PID controller and considers position control response with controller of DC servo motor for robot drive. As this system is supported by a channel, it is considered to enough application effect in industry region such as needing multi joint robot and precision parallel driving.