• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.5
• /
• pp.64-72
• /
• 2004

An extension of interaction matrix formulation to the problem of system and disturbance identification for a plant that is corrupted by both process and output disturbances is presented. The teaming control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of loaming control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot moving on the vertical plane with the controller for each link acting independently. The basic result of the paper is to show that stability and iterative precision of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized teaming in the coupled system, provided that the sample time in the digital teaming controller is sufficiently short. The methods of teaming system are shown up for the iterative precision of each link.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.3
• /
• pp.1464-1480
• /
• 2019

Robust tracking of infrared (IR) pedestrian targets with various backgrounds, e.g. appearance changes, illumination variations, and background disturbances, is a great challenge in the infrared image processing field. In the paper, we address a new tracking method for IR pedestrian targets via multi-feature local sparse representation (SR), which consists of three important modules. In the first module, a multi-feature local SR model is constructed. Considering the characterization of infrared pedestrian targets, the gray and edge features are first extracted from all target templates, and then fused into the model learning process. In the second module, an effective tracker is proposed via the learned model. To improve the computational efficiency, a sliding window mechanism with multiple scales is first used to scan the current frame to sample the target candidates. Then, the candidates are recognized via sparse reconstruction residual analysis. In the third module, an adaptive dictionary update approach is designed to further improve the tracking performance. The results demonstrate that our method outperforms several classical methods for infrared pedestrian tracking.

• International Journal of Computer Science & Network Security
• /
• v.21 no.1
• /
• pp.64-69
• /
• 2021

In this paper, we have proposed a new internal model control structure (IMC). It is aimed at unstable overactuated multivariable systems whose transfer matrices are singular and unstable. The model inversion problem is essential to understand this structure. Indeed, the precision between the output of the process and the setpoint is linked to the quality of the inversion. This property is preserved in the presence of an additive disturbance at the output. This inversion approach proposed in this article can be applied to multivariable systems with no minimum phase or minimum phase shift with or without delays in their transfer matrices. It is proven by an example of simulation through which we have shown its good performance as a guarantee of stability, precision as well as rapidity of system responses despite the presence of external disturbances and we have tested this control structure in the frequency domain hence the robustness of the IMC.

• International Journal of Computer Science & Network Security
• /
• v.21 no.11
• /
• pp.151-156
• /
• 2021

The article provides an examination of those temporary states of disturbances in the psychophysiological and socio-psychological spheres of a person, which develop against the background of normally formed mechanisms of mental activity, that is, in mentally healthy people. A healthy person is a person adapted to the conditions of the external environment, and mental health is inseparable from the physical and social well-being of a person. The cause of the disorder is the impact on a person of any environmental factors that weaken the mechanisms of social and psychological adaptation of the individual.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.14 no.5
• /
• pp.2092-2099
• /
• 2013

Through the data transfer race in industry since 1990s, the operational speed of optical disk drive(ODD) becomes commonly over 10,000 rpm. Such high speed operation inevitably causes the vibration, which is also the disturbances in the read-write process of pick-up servo-controller. Generally the vibration disturbance problem can be solved by the vibration isolation using the rubber mount and the increase of robustness of the pick-up servo-controller. Optical disk itself has not been targeted for the vibration reduction, because it is manufactured under the standardized format. In this paper we focused on the increase of critical speed of optical disk, that is, the improvement of dynamic characteristics, with the control of residual stresses which are come from the injection molding process. To do this, first, the residual stresses induced from the injection molding process are calculated using finite element method. The major design parameters of the process conditions are flow rate and melt temperature, which control the residual stresses in optical disk. Second, the critical speed of optical disk is calculated with modal analysis considering residual stress distributions. It was found out that the critical speed can be improved by the control of operational parameters in the injection molding process.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.2
• /
• pp.155-164
• /
• 2006

This paper focuses on a new optimization technique of a fuzzy logic based proportional integral (FLPI) load frequency controller by the multiple tabu search (MTS) algorithm. Conventionally, the membership functions and control rules of fuzzy logic control are obtained by trial and error method or experiences of designers. To overcome this problem, the MTS algorithm is proposed to simultaneously tune proportional integral gains, the membership functions and control rules of a FLPI load frequency controller in order to minimize the frequency deviations of the interconnected power system against load disturbances. The MTS algorithm introduces additional techniques for improvement of the search process such as initialization, adaptive search, multiple searches, crossover and restart process. Simulation results explicitly show that the performance of the proposed FLPI controller is superior to conventional PI and FLPI controllers in terms of overshoot and settling time. Furthermore, the robustness of the proposed FLPI controller under variation of system parameters and load change are higher than that of conventional PI and FLPI controllers.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1997.04a
• /
• pp.131-136
• /
• 1997

This paper represent the variable structure adaptive mode control technique which is new approach to implement the robust control of industrial robot manipulator with external disturbances and parameter uncertainties. Sliding mode control is a well-known technique for robust control of uncertain nonlinear systems. The robustness of sliding model controllers can be shown in contiuous time, but digital implementation may not preserve robustness properties because the sampling process limits the existence of a true sliding mode. the sampling process often forces the trajectory to oscillate in the neighborhood of the sliding surface. Adaptive control technique is particularly well-suited to robot manipulators where dynamic model is highly complex and may contain unknown parameters. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The proposed control scheme has a simple sturcture is computationally fast and does not require knowledge of the complex dynamic model or the parameter values of the manipulator or the payload. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control, Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications of industrial robot control system.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.1199-1205
• /
• 1993

It has been well known that the assumption of full state availability is one of the most important restrictions to the practical realization of VSCS. And several attempts to alleviate the assumption had been made. However, it is not easy to find a positive scheme among them. Recently, an output feedback variable structure control system(OFVSCS) was proposed and the effectiveness of the scheme was validated for the disturbance free systems. The purpose of this study is to propose a robust OFVSCS that have the robust properties against process parameter variations and external distrubances by extending the basic OFVSCS and to evaluate its control performances through power system stabilizer design example. The ROFVSCS is composed of dynamic switching function and output feedback switching control inputs that are constructed by the use of the unknown vector modeling technique. With the proposed scheme, existence of sliding mode is guaranteed and any nonzero bias can be suppressed in the face of disturbances and process parameter variations as far as well-known matching condition is satisfied. Due to the fact that the ROFVSCS is driven by small number of measured informations, the practical application of VSCS for the systems with unmeasurable states and for high order systems that conventional schemes cannot be applied, is possible with the proposed scheme. It is noticeable that the implementation cost of VSCS can be considerably reduced without sacrifice of control performances by adopting ROFVSCS since there is no need measure the states with high measurement cost.

• Journal of the Korean Society of Industry Convergence
• /
• v.18 no.3
• /
• pp.181-190
• /
• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.

• Journal of Ocean Engineering and Technology
• /
• v.19 no.6 s.67
• /
• pp.86-91
• /
• 2005

Regarding some of tire important works in tire shipyard, like tire production process, quality control, and material handling, there are many elements that disturb tire work-flaw. For example, there are mistakes in manufacturing, delay of production, and poor quality. These kinds of disturbances are from tire delay of communication time between tire production field and tire management. Therefore, it would be possible to strengthen tire competitiveness of shipbuilding industries by applying tire information technology based on Wireless Local Area Network (Wireless LAN), in order to establish tire multi-possession of real time production information in limited large shipbuilding yard. In this study, tire construction concept of tire information system, based on Wireless LAN, is proposed to build communication infrastructures in shipyards. The various information regarding shipbuilding inspection, process management, and material flaw are analyzed and constructed to databases in tire middle ware system, as tire platform for using Personal Display Agent (PDA). At last, tire middle ware system, which delivers tire information, is developed by tire C$\sharp$ and Microsoft.net; also, tire PDA application system is structured in WinCE O/S, and is tested and evaluated under tire server linked condition.