• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.399-405
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• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

• Journal of Power Electronics
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• v.13 no.6
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• pp.955-963
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• 2013

To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive super-twisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

• Journal of Korea Multimedia Society
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• v.22 no.1
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• pp.35-43
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• 2019

Template tracking refers to the procedure of finding the most similar image patch corresponding to the given template through an image sequence. In order to obtain more accurate trajectory of the template, the template requires to be updated to reflect various appearance changes as it traverses through an image sequence. To do that, appearance images are used to model appearance variations and these are obtained by the computation of the principal components of the augmented image matrix at every iteration. Unfortunately, it is prohibitively expensive to compute the principal components at every iteration. Thus in this paper, we suggest a new Sliding Window based truncated URV Decomposition (TURVD) algorithm which enables updating their structure by recycling their previous decomposition instead of decomposing the image matrix from the beginning. Specifically, we show an efficient algorithm for updating and downdating the TURVD simultaneously, followed by the rank-one update to the TURVD while tracking the decomposition error accurately and adjusting the truncation level adaptively. Experiments show that the proposed algorithm produces no-meaningful differences but much faster execution speed compared to the typical algorithms in template tracking applications, thereby maintaining a good approximation for the principal components.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1816-1821
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• 2003

The thermoelectric device was applied to a car-seat to control the hot temperature in summer and cold temperature in the winter. The characteristics of the device used to a car-seat were analyzed. The air conditioning structure was designed to regulate the hot side of the thermoelectric device. To control the temperature of the car-seat, a robust control algorithm based on the sliding mode control was applied, and a controller using one-chip microprocessor was developed. The performance of the proposed controller through experiments was shown.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.144-147
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• 1991

For the control of induction motor, there are many methods which guarantee robustness. Especially, this paper proposes vector control strategy and sliding mode control method which has insensitivity to disturbances and parameter variations. Furthermore, by construction of a new switching function the controlled variable structure system can remove reaching phase deteriorating robustness at the transient state of the conventional sliding mode algorithm. The usefulness of the proposed control algorithm is verified by the simulations and experiments.

• Journal of the Korea Computer Industry Society
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• v.7 no.5
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• pp.513-520
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• 2006

In this paper, we propose a novel real-time frame-layer rate control algorithm using sliding window method for low bit rate video coding. The proposed rate control method performs bit allocation at the frame level to minimize the average distortion over an entire sequence as well as variations in distortion between frames. A new frame-layer rate-distortion model is derived, and a non-iterative optimization method is used for low computational complexity. In order to reduce the quality fluctuation, we use a sliding window scheme which does not require the pre-analysis process. Therefore, the proposed algorithm does not produce time delay from encoding, and is suitable for real-time low-complexity video encoder. Experimental results indicate that the proposed control method provides better visual and PSNR performance than the existing TMN8 rate control method.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.548-551
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• 1991

The Sliding Mode Control of Variable Structure System is applied to robot manipulators or servo system for its merits of robustness to variable system parameters and disturbances. But Switching frequency of control input is excessively high during sliding mode operation. In this paper, a new control algorithm usings fuzzy logic is proposed to solve this problem. With the proposed algorithm, a dc motor speed control system has been simulated and the result shows expected performances.

• Proceedings of the KIEE Conference
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• 1992.07b
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• pp.1221-1224
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• 1992

To obtain a robustness which is one of important characteristics needed in servo drive, the sliding mode control method is used as a control strategy. However, the undesired phenomenon of chattering is a serious problem. In this paper, an adaptive chattering alleviation algorithm for variable structure system control is proposed to solve this serious problem. Digital controller using the theory of chattering alleviation control is applied to the position control problem of an induction motor system. Comparisons of this algorithm with other variable structure system control algorithms indicate that the chattering can be alleviated. This controller is implemented using IBM-PC(8088 CPU) which controls current controlled PWM inverter consisted of IGBT as a switching device to drive motor.

• Journal of Electrical Engineering and Technology
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• v.10 no.2
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• pp.551-559
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• 2015

This paper's focus is in reducing the torque ripple and increasing the average torque by optimizing switching angles of 8/6 switched reluctance motor while implementing a robust speed controller in the outer loop. The mathematical model of the machine is developed and it is simulated using MATLAB/Simulink. An objective function and constraints are formulated and Optimum turn-on and turn-off angles are determined using Particle swarm optimization and Genetic Algorithm techniques. The novelty of this paper lies in implementing sliding mode speed controller with optimized angles. The results from both the optimization techniques are then compared with initial angles with one of them clearly being the better option. Speed response is compared with PID controller.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.3
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• pp.281-292
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• 2014

We propose a novel cooperative guidance law design method based on the finite time disturbance observer (FTDO) for multiple near space interceptors (NSIs) with impact time control. Initially, we construct a cooperative guidance model with head pursuit, and employ the FTDO to estimate the system disturbance caused by target maneuvering. We subsequently separate the cooperative guidance process into two stages, and develop the normal acceleration command based on the super-twisting algorithm (STA) and disturbance estimated value, to ensure the convergence of the relative distance. Then, we also design the acceleration command along the line-of-sight (LOS), based on the nonsingular fast terminal sliding mode (NFTSM) control, to ensure that all the NSIs simultaneously hit the target. Furthermore, we prove the stability of the closed-loop guidance system, based on the Lyapunov theory. Finally, our simulation results of a three-to-one interception scenario show that the proposed cooperative guidance scheme makes all the NSIs hit the target at the same time.