• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.244-249
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• 1998

In this paper, the hybrid state space self-tuning control technique Is studied within the framework of fuzzy systems and dual-rate sampling control theory. We show that fuzzy modeling techniques can be used to formulate chaotic dynamical systems. Then, we develop the hybrid state space self-tuning fuzzy control techniques with dual-rate sampling for digital control of chaotic systems. An equivalent fast-rate discrete-time state-space model of the continuous-time system is constructed by using fuzzy inference systems. To obtain the continuous-time optimal state feedback gains, the constructed discrete-time fuzzy system is converted into a continuous-time system. The developed optimal continuous-time control law is then convened into an equivalent slow-rate digital control law using the proposed digital redesign method. The proposed technique enables us to systematically and effective]y carry out framework for modeling and control of chaotic systems. The proposed method has been successfully applied for controlling the chaotic trajectories of Chua's circuit.

• 한국해양공학회지
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• 제3권2호
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• pp.551-551
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• 1989

In general, a remotely operated vehicle(ROV) operates at deep sea. The control system of ROV is composed of two local loops; the first loop placed on the surface vessel monitors and manipulates the attitude of the ROV using joystick, and the second part on the ROV automatically controls thrusters and acquires positional data. This paper presents a position control simulation of a ROV using an adaptive controller and discusses the control effects of two different conditions. The design of an adaptive control system is obtained by the application of a self-tuning controller with the minimization of an appropriate cost function. The parameters of the control system are estimated by a recursive least square method(RLS). In the simulation, a Runge-Kutta method is used for the numerical integration and the generated outputs are obtained by adding measurement errors. Additionally, this paper discusses the mathematical modelling of a ROV and make a survey of control systems.

• 한국해양공학회지
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• 제3권2호
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• pp.51-58
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• 1989

In general, a remotely operated vehicle(ROV) operates at deep sea. The control system of ROV is composed of two local loops; the first loop placed on the surface vessel monitors and manipulates the attitude of the ROV using joystick, and the second part on the ROV automatically controls thrusters and acquires positional data. This paper presents a position control simulation of a ROV using an adaptive controller and discusses the control effects of two different conditions. The design of an adaptive control system is obtained by the application of a self-tuning controller with the minimization of an appropriate cost function. The parameters of the control system are estimated by a recursive least square method(RLS). In the simulation, a Runge-Kutta method is used for the numerical integration and the generated outputs are obtained by adding measurement errors. Additionally, this paper discusses the mathematical modelling of a ROV and make a survey of control systems.

• 한국정밀공학회지
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• 제12권8호
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• pp.168-175
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• 1995

A robust speed control algorithm under disturbances and reference change is developed using the self tuning control method in order to control induction motors. The method incorporates the concepts of the well known internal model principle and the annihilator polynomial. The effectiveness of the method is evaluated through the speed control experimental results of an induction motor for refernce change and arbitrary distrbance.

• Nuclear Engineering and Technology
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• 제27권3호
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• pp.317-326
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• 1995

증기발생기의 수위제어시스템에 대해 특히 저출력시 수위제어의 문제점을 분석고찰하고 퍼지제어기 법을 기반으로 한 안정되고도 신속한 수위제어에 관한 연구가 주로 수행되었다. 문제해결의 한 방안으로서, 중요 제어변수임에도 불구하고 저출력운전시 저유량구간의 추정불량으로 인해 사용할 수 없는 유량신호를 대신하여 밸브개도를 이용한 대체정보를 채용하였으며 또한 소속함수크기의 유동적인 조정방법을 이용하여 수위오차가 크게 발생한 과도상태시에는 신속한 수위회복이 이루어지도록 하였다. 실제운전환경에서 제시된 제어기를 튜닝 하기 위한 방법으로서 제어성능지수 및 decent method를 이용한 소속함수의 self-tuning 기법을 제시하였다. 원자력 연구소의 연수원에 설치된 교육훈련용 시뮬레이터에서 수행된 실험결과는 제시된 제어기 및 튜닝방법의 안정되고 우수한 성능구현 및 실질적 인 유용성을 보여주고 있다.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.739-744
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• 2000

A robust control algorithm under disturbance and reference change is developed using a self tuning control method incorporting of the well known internal model principle and the annihilator polynomical. The types of disturbance and reference signal are assumed to be given as known difference polynomials. The algorithm is shown for a minimum phase system with parameters of unknown parameters.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.77.6-77
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• 2001

R/C helicopter has been used to several fields of military affairs, investigation, searching and toys because it has small size, hovering and vertical take-off characteristics etc. Therefore it needs more realizable control method. The paper introduces simulation and experimental results for control of a helicopter training simulator by self tuning control method. It is assumed that the helicopter is operated at the state of hovering motion and the model is induced. The self tuning control method incorporates the concepts of the well known internal model principle and annihilator polynomial for reference input and disturbance. The controller design is separated into two cases that the plant parameters are known or not. To realize ...

• 한국통신학회논문지
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• 제19권11호
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• pp.2189-2198
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• 1994

본 논문에서는 퍼지 제어 시스템에 사용되는 퍼지 논리 제어기의 성능을 향상시키기 위한 여러가지 알고리즘들 중에서 학습기법에 속하는 퍼지 메타 규칙에 기초한 자기 동조 기법을 사용하여 직류 서보 전동기 제어를 위한 자기 동조 퍼지 논리 제어기를 구현해서, 자기 동조 퍼지 논리 제어기의 설계와 시뮬레이션 및 실험 결과를 고찰하고, 그 결과를 일반적인 퍼지 논리 제어기의 결과와 비교하여 자기 동조 퍼지 논리 제어기의 성능을 평가한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 추계학술대회 논문집 학회본부
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• pp.327-331
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• 1989

This paper concerned about a study on the direct pole placement PID self-tuning controller design for Robot manipulator control system. The method of a direct pole placement self-tuning PID control for a DC motor of robot manipulator tracks a reference velocity in spite of the parameters uncertainties in nonminimum phase system. In this scheme, the parameters of controller are estimated by the recursive least square(RLS) identification algorithm, the pole placement method and diophantine equation. A series of simulation in which minimum phase system and nonminimum phase system are subjected to a pattern of system parameter changes is presented to show some of the features of the proposed control algorithm. The proposed control algorithm which shown are effective for the practical application, and experiments of DC motor speed control for Robot manipulator by a microcomputer IRH-PC/AT are performed and the results are well suited.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.114-114
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• 2000

In this paper a self-tuning modified skyhook control for the semi-active suspension systems is investigated. The damping force generation mechanism is modeled We consider a 2 DOF time-varying quarter car model that permits parameter variations of the sprung mass and suspension spring coefficient. The modified skyhook control algorithm proposed in this paper requires only the measurement of body acceleration. The absolute velocity of the sprung mass and the relative velocity of the suspension deflection are estimated by using integral filters, according to parameter variations. The skyhook gains are designed in such a way that the body acceleration and the dynamic tire force are optimized. An ECU prototype will be discussed