• Title/Summary/Keyword: RCGA(Real-coded genetic algorithm)

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Experimental Data based-Parameter Estimation and Control for Container Crane (실험적 데이터 기반의 컨테이너 크레인 파라미터 추정 및 제어)

  • Lee, Yun-Hyung;Jin, Gang-Gyoo;So, Myung-Ok
    • Journal of Navigation and Port Research
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    • v.32 no.5
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    • pp.379-385
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    • 2008
  • In this paper, we presents a scheme for the parameter estimation and optimal control scheme for apparatus of container crane system. For parameter estimation, first, we construct the open loop of the container crane system and estimate its parameters based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. The RCGA plays an important role in parameter estimation as an adaptive mechanism. For controller design, state feedback gain matrix is searched by another RCGA and the estimated model. The performance of the proposed methods are demonstrated through a set of simulation and experiments of the experimental apparatus.

Parameter Estimation and Control for Apparatus of Container Crane;An Experimental Approach (모형 컨테이너 크레인의 파라미터 추정 및 제어;실험적 접근)

  • Lee, Yun-Hyung;Jin, Gang-Gyoo;So, Myung-Ok
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2007.12a
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    • pp.304-306
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    • 2007
  • In this paper, we presents a scheme for the parameter estimation and optimal control scheme for apparatus of container crane system. For parameter estimation, first, we construct the open loop of the container crane system and estimate its parameters based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. The RCGA plays an important role in parameter estimation as an adaptive mechanism. For controller design, state feedback gain matrix is searched by another RCGA and the estimated model. The performance of the proposed methods are demonstrated through a set of simulation and experiments of the experimental apparatus.

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The usage of convergency technology for ROGA algorithm application on step walking of biped robot (이족 로봇의 계단 보행에서 Real-Coded Genetic Algorithm 의 융합 기술의 사용)

  • Lee, Jeong-Ick
    • Journal of the Korea Convergence Society
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    • v.11 no.5
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    • pp.175-182
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    • 2020
  • The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

Stabilization Control of Inverted Pendulum Systems Using a State Observer (상태관측기를 이용한 도립진자 시스템의 안정화 제어)

  • Lee, Yun-Hyung;Ahn, Jong-Kap;Kim, Min-Jeong;So, Myung-Ok;Jin, Gang-Gyoo
    • Proceedings of the Korean Society of Marine Engineers Conference
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    • 2005.11a
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    • pp.49-50
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    • 2005
  • This paper presents a scheme for state observer-based stabilization control of inverted pendulum systems. The feedback gain matrices of both the state feedback controller and the state observer are obtained by a real-coded genetic algorithm(RCGA) such that the given performances indices are minimized.

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PID controller tuning of DC motor for speed control (직류모터의 속도 제어를 위한 PID 제어기 동조)

  • So Myung-Ok;Lee Yun-Hyung;Ahn Jong-Kap;Choi Woo-Chul
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2004.11a
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    • pp.111-116
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    • 2004
  • In this paper, parameters of a given DC motor system are estimated using the model adjustment technique and the real coded genetic algorithm(RCGA) technique. A number of tuning methods, based on experience and experiment, such as Ziegler-Nichols, Cohen-Coon, IMC, L-ITAE Method have been proposed to obtain parameters for the PID controller. This paper proposes estimating parameters of PID controller using RCGA. The performance of the proposed algorithm is demonstrated through simulations and experiences.

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Backward Path Tracking Control of a Trailer Type Vehicle Using a RCGA Based Parameter Estimation (RCGA 기반의 파라미터 추정 기법을 이용한 트레일러형 차량의 후방경로 추종제어)

  • 위용욱;하윤수;진강규
    • Journal of Advanced Marine Engineering and Technology
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    • v.25 no.1
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    • pp.124-130
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    • 2001
  • This paper presents a methodology on automation of a trailer type vehicle which consists of two parts: a tractor and a trailer. Backward moving and parking control is very important to automate this type of vehicle. It is difficult to control the motion such a trailer vehicle whose dynamics in non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a RCGA(real-coded genetic algorithm) is proposed and a backward path tracking control algorithm is then obtained. The simulation results verify the effectiveness of the proposed method.

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Optimal State Feedback Control of Container Crane Using RCGA Technique (RCGA 기법을 이용한 컨테이너 크레인의 최적 상태 피드백 제어)

  • Lee, Yun-Hyung;Yoo, Heui-Han;Cho, Kwon-Hae;So, Myung-Ok
    • Journal of Navigation and Port Research
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    • v.31 no.3 s.119
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    • pp.247-252
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    • 2007
  • The container crane is one of the most important equipments at container terminal. If its working time in cycle could be reduced then container terminal efficiency and service level can be increased. So there are many i1forts to reduce working time of container cranes. It means how to design the controller with good performance which has small overshoot and swing motion of container crane. We, in this paper, present a state feedback controller based on LQ theory incorporating a RCGA which means real-coded genetic algorithm RCGA can search state feedback gains under given objective function. A set of simulation works are carried out in order to prove the control effectiveness of the proposed methods.

PID Controller Tuning for Integrating Processes with Time Delay (시간지연을 갖는 적분시스템용 PID 제어기의 동조)

  • Lee Yun-Hyung;Ahn Jong-Kap;Kim Min-Jung;So Myung-Ok;Jin Gang-Gyoo
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • 2006.06b
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    • pp.325-330
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    • 2006
  • Integrating processes are frequently encountered in process industries. Generally they are most commonly associated with level control problems. In this paper, tuning formulae of PID controllers for set-point tracking and load disturbance rejection are presented on integrating processes with time delay. In particular, the controller parameters are determined such that performance criteria(IAE, ISE and ITSE) are minimized. Optimal PID parameter sets are obtained by means of a real-coded genetic algorithm(RCGA) and then tuning rules are addressed using obtained PID parameter sets and another RCGA. The performances of the proposed tuning rules are tested on two processes.

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RCGA-Based Parameter Estimation of Solar Cell Models (RCGA에 기초한 태양전지 모델의 파라미터 추정)

  • 권봉재;신명호;손영득;진강규
    • Journal of Advanced Marine Engineering and Technology
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    • v.27 no.6
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    • pp.696-703
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    • 2003
  • A photovoltaic power generation system is an infinite and clean energy system. Recently. because of the realization of high efficiency and low cost PV modules, the studies on the PV system have extensively increased. In this paper. we present an online scheme for parameter estimation of solar cell, based on the model adjustment technique and a real-coded genetic algorithm(RCGA). The ideal diode model and the diode model with series and shunt resistors are used to estimate their parameters, Simulation works using field data in the form of a V-I characteristic curve are carried out to demonstrate the effectiveness of the proposed method.

A study on the stabilization and controller design for directional pan-tilt system (지향성 Pan-Tilt 시스템의 안정화와 제어기 설계에 관한 연구)

  • Shin, Suk-Shin;Noh, Jong-Ho;Park, Jong-Ho
    • Journal of Advanced Marine Engineering and Technology
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    • v.37 no.2
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    • pp.192-198
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    • 2013
  • This paper presents the stabilization and design of a pan-tilt control part for the directional pan-tilt system for shipboard directional equipment. In order to control each control axis with compensation for ship motion, the 2 degree of freedom(2DOF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the 2 DOF PID controller tuning.