• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.161.4-161
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• 2001

This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

• 전기전자학회논문지
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• 제11권4호
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• pp.213-218
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• 2007

We consider a web transport system. The objective of this paper is to design the output feedback controller such that the controller can track a desired tension and processing speed on web transport system. We propose the new design method using observer and feedback linearization technique. The proposed method use a nonlinear feedback to transform to linear system and high gain observer to estimate the state value. We show that the proposed controller can achieve the control object using only output. We show a performance of controller via the simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.488-492
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• 1986

This paper presents a design method for PID controller using optimal control theory. The procedures of the applied method consist of (1) sampling the system response to the test signal, (2) processing the sampled data using RPE method to identify the parameters of the plant, (3) calculating the optimal value of the PID controller parameters using LQ theory. This controller is implemented on the digital computer and applied to real servomechanism, yielding satisfactory result.

• 산업기술연구
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• 제27권B호
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• pp.97-101
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• 2007

We have developed a Edge Position Controller (EPC) using a ultrasonic sensor and applied to a fabric machine as a web guide system. Hardware devices composed of a ultrasonic transmitter-receiver sensor module and microprocessor-based sensor signal processing system are developed to realize the proposed system. We evaluated the control characteristics of the EPC and the performance of the system was good enough to apply the actual system.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권4호
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• pp.294-300
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• 2009

The neural network with radial basis function is introduced for position tracking control of AC servo drive with the existence of system uncertainties. An adaptive robust term is applied to overcome the external disturbances. The proposed controller is implemented on a high performance digital signal processing DSP TMS320C6713-300. The stability and the convergence of the system are proved by Lyapunov theory. The validity and robustness of the controller are verified through simulation and experimental results

• 한국정보처리학회논문지
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• 제3권6호
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• pp.1473-1482
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• 1996

본 논문은 순수 퍼지 제어기와 신경망을 도입한 퍼지 신경망 제어기의 응답 특성 에 대해 연구 고찰하였다. 퍼지 제어기는 초기치에서 과도 응답 특성이 우수하고 외 란에도 강한 장점을 가지고 있지만 목표치에서 약간의 오차가 항상 있다. 이러한 정 상 상태의 오차를 제거하기 위한 여러 방법이 소개되고 있다. 이런 관점에서 본 논문 은 학습 능력이 있는 신경망(neural network)을 응용한 퍼지 신경망 제어기(fuzzy neural network controller)을 제안하였다. 이 퍼지 신경망제어기는 목표치에서 오차 가 발생하는 기존 퍼지 제어기의 단점을 보완하여 오차없이 목표치에 정확하게 수렴 하여 정밀 제어가 가능하게 된다. 이와 같은 두 제어기 간의 목표치에 수렴하는 응답 특성은 실험을 통해 비교하였다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 춘계학술대회 논문집
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• pp.1358-1363
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• 2011

본 연구에서는 GEC, VVVF 전동차 운전실에 취부 되어 있는 Brake Controller 점검방법 개선에 관한 연구를 수행하였다. Brake Controller내의 단동 스냅동작 스위치, 복동 스냅동작 스위치 및 단자대와 연결된 모든 부품을 개별적 점검이 아닌 현 전동차와 동일한 조건에서 전반적인 면밀한 검토 및 분석을 통하여 개선책을 강구하고, 고장을 사전에 발견해 처리함으로써 운행 장애 최소화 및 승객의 안전과 직결된 전동차 안전운행에 기여하고자 본 연구를 시작하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.530-532
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• 1998

In this paper, We Designed the torque compensatory controller for robot manipulator using modified chaotic neural networks with self feedback loop. The proposed torque compensatory controller compensate torque of the PD controller. In order to estimate the proposed controller, we implemented to the Cartesian space control of three-axis PUMA robot and compared the simulation results with recurrent neural networks(RNNs) controller. Simulation results show that the learning error drastically decrease at on-line learning. The proposed CNNs controller shows much better control performance and shorter processing time compared to the recurrent neural network controller in the robot trajectory control.

• 대한전기학회논문지
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• 제40권8호
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• pp.836-844
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• 1991

PLC(programmable logic controller) system is widely used for the control of factory. PLC system receives ladder diagram which is drawn by the user to implement hardware logic, converts the ladder diagram into sequence program which is executable in the PLC system, and executes the sequence program indefinitely unless user breaks. The sequence program processes the data of on/off signal, and endures 1 scan delay and missing of pulse-type signal shorter than a scan time. So, data dependency doesn't exist. By applying theis characteristics to multiprocessor architecture, we design parellel PLC functionally and evaluate performance upgrade. Parallel PLC consists of central processing module, N general processing unit, and a shared memory by master-slave type. Each module executes allocated sequence program by the control of central processing module. We can expect performance upgrade by parallel processing, and reliability by relocation of sequence program when error occurs in processing module.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.588-588
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• 1991

This paper proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, we need more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adapitive controllers have difficulty in realtime processing. So in order to overcome it, We adopt fuzzy adaptive controller and propose fuzzy compliance vector generator for flexible compliant motion. We analyze and confirm the proposed algorithm by surface processing experiment with a control system implemented by VME system.