• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.3
• /
• pp.258-266
• /
• 2012

This paper describes a biped walking algorithm for a hydraulic humanoid robot on inclined floors. To realize stable and robust biped walking, the walking algorithm was divided into five control strategies. The first is a joint position control strategy. This strategy is for tracking desired joint position trajectories with a gain switching. The second is a multi-model based ZMP (Zero Moment Point) control strategy for dynamic balance. The third is a walking pattern flow control strategy for smooth transition from step to step. The fourth is an ankle compliance control, which increases the dynamic stability at the moment of floor contact. The last is an upright pose control strategy for robust walking on an inclined floor. All strategies are based on simple pendulum models and include practical sensory feedback in order to implement the strategies on a physical robot. Finally, the performance of the control strategies are evaluated and verified through dynamic simulations of a hydraulic humanoid on level and inclined floors.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.103-106
• /
• 1996

This paper presents an iterative fuzzy learning control scheme which is applicable to a broad class of nonlinear systems. The control scheme achieves system stability and boundedness by using the linear feedback plus adaptive fuzzy controller and achieves precise tracking by using the iterative learning rules. The switching mode control unit is added to the adaptive fuzzy controller in order to compensate for the error that has been inevitably introduced from the fuzzy approximation of the nonlinear part. It also obviates any supervisory control action in the adaptive fuzzy controller which normally requires high gain signal. The learning control algorithm obviates any output derivative terms which are vulnerable to noise.

• Journal of Power Electronics
• /
• v.19 no.3
• /
• pp.613-624
• /
• 2019

Digital current control techniques are an attractive option for DC-DC converters. In this paper, a digital predictive peak current control algorithm is presented for buck converters that allows the inductor current to track the reference current in two switching cycles. This control algorithm predicts the inductor current in a future period by sampling the input voltage, output voltage and inductor current of the current period, which overcomes the problem of hardware periodic delay. Under the premise of ensuring the stability of the system, the response speed is greatly improved. A real-time parameter identification method is also proposed to obtain the precision coefficient of the control algorithm when the inductance is changed. The combination of the two algorithms achieves adaptive tracking of the peak inductor current. The performance of the proposed algorithms is verified using simulations and experimental results. In addition, its performance is compared with that of a conventional proportional-integral (PI) algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.2275-2278
• /
• 2005

In this paper, a control algorithm for a servo manipulator is focused on. A servo manipulator system has been developed for remotely handling radioactive materials in a hot cell. It is driven by servo motors. The torque from a servo motor is transferred through a reducer to the corresponding axis. The PID control algorithm is a simple and effective algorithm for such application. However, since friction degrades the algorithm's performance, friction has to be considered and compensated. The major aberrations are the positional tracking errors and the limit cycle. The authors have considered a switching term to a conventional PID algorithm to reduce the friction's effect. It has been tested by a hardware test.

• Journal of Mechanical Science and Technology
• /
• v.20 no.11
• /
• pp.1834-1847
• /
• 2006

A robust minimum-time control (RMTC) strategy is addressed and it is extended to the dual-stage servo design. Rather than conventional switching type sub-optimal controls, it is a reference following control approach where the predetermined minimum-time trajectory (MTT) is tracked by the perturbation compensator based feedback controller. First, the minimum-time trajectory for a mass-damper system is derived. Then, the perturbation compensator to achieve robust tracking performance in spite of model uncertainty and external disturbance is suggested. The RMTC is also applied to the dual-stage positioner which consists of coarse actuator and fine one. To best utilize the actuation redundancy of the dual-stage mechanism, a null-motion controller to actively regulate the relative motion between the two stages is formulated. The performance of RMTC is validated through simulation and experiment.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.48 no.8
• /
• pp.417-425
• /
• 1999

This paper presents an effective control scheme with the voltage-fed half-bridge series resonant inverter for induction heating system, which is based upon a load-adaptive tuned frequency tracking control strategy using PLL(Phase Locked Loop) and its peripheral control circuits. The proposed control strategy ensures a stable operation characteristics of overall inverter system and ZVS(Zero Voltage Switching) irrespective of sensitive load parameter variations, specially in the non-magnetic materials as well as power regulation. The detail operation principle and the characteristics of inverter system with the proposed control scheme are described and its validity is verified by the simulation and the experimental results for a prototype induction cooking system rated at 1.2kW.

• Proceedings of the KIPE Conference
• /
• 2008.06a
• /
• pp.317-319
• /
• 2008

태양전지는 일사량 및 온도에 의해 출력 특성이 변화하여 최대전력을 얻을 수 있는 위치도 변화한다. 따라서 태양전지의 동작점을 최대 전력점에서 동작하게 하는 최대전력점 추적(MPPT, Maximum Power Point Tracking) 이 필요하다. 본 논문에서는 One switching cycle 내에 최대전력점을 추종하는 MPPT 제어 방법을 제안한다. 이 방식은 빠르게 최대 동작점을 찾을 수 있고 고효율을 가지며 다른 방식에 비해 구성이 간단하다. 새로 제안된 제어기법의 타당성을 검증하기 위하여 MPPT 실험을 수행하였다.

• Journal of Electrical Engineering and information Science
• /
• v.1 no.1
• /
• pp.39-44
• /
• 1996

In this paper, adaptive controller with switching action is designed for rigid body robot manipulators to ensure the uniform stability of the manipulator system without a priori knowledge of the unmodeled dynamics. It will be shown that the parameter estimates are bounded independent of the other closed-loop signals boundedness, and also shown that the tracking error belongs to the normalized error bound via mathematical analisys. The robustness and performance of the proposed adaptive controller is investigated for the two-link direct drive manipulator actuated by VRM(Variable Reluctance Motor).

• Journal of Energy Engineering
• /
• v.15 no.3 s.47
• /
• pp.181-187
• /
• 2006

This paper is proposed to a solar cell power system used in fire emergency equipment. Also it is designed with a high efficiency power converter in order to increase efficiency of power system. The controlling switches used in DC-DC booster chopper and DC-AC inverter are operated with soft switching, which is applied to resonant circuit method to reduce switching loss. The result is that the system gets to high efficiency. In this paper, A detection circuit of maximum power point of solar cell is described in this paper. And the performance evaluations for the photovoltaic power system of high efficiency are examined by the analysis of a new tracking controller with a maximum power $P_{max}$ detection of solar cell.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2013.10a
• /
• pp.379-382
• /
• 2013

In conventional solar energy harvesting systems, continuous perturbation techniques of the duty cycle or switching frequency of a power converter have been used to implement MPPT(Maximum Power Point Tracking) control. In this paper, we propose a new MPPT technique to control the duty cycle of a power switch powering a power converter. The proposed circuit is designed in 0.35um CMOS process, and the designed chip area including pads is $770um{\times}800um$.