• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.200-209
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• 1999

This paper presents a precise tracking control scheme for the proposed parallel robot using artificial neural network. This control scheme is composed of three feedback controllers and one feedforward controller. Conventional PD controller and artificial neural network are used as feedback and feedforward controller respectively. A backpropagation learning strategy is applied to the training of artificial neural network, and PD controller outputs are used as target outputs. The PD controllers are designed at the robot dynamics based on inter-relationship between active joints and moving platform. Feedback controllers insure the total stability of system, and feedforward controller generates the control signal for trajectory tracking. The precise tracking performance of proposed control scheme is proved by computer simulation.

• 조명전기설비학회논문지
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• 제27권11호
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• pp.20-26
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• 2013

This paper proposes the maximum power point tracking(MPPT) control of photovoltaic system using fuzzy based variable step size perturbation & observation(FVSS-PO) method. Conventional PO and incremental conductance(IC)MPPT control algorithm generally uses fixed step size. A small fixed step size will cause the tracking speed to decrease and tracking accuracy of the MPP will decrease due to large fixed step size. Therefore, the fixed step size can't be satisfying both the tracking speed and the tracking accuracy. This paper proposes FVSS-PO MPPT algorithm that adjusts automatically step size of PO by fuzzy control according to operating conditions. The validity of MPPT algorithm proposed in this paper prove through compare with conventional PO MPPT algorithm.

• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.237-242
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• 2015

This paper presents a method to enhance tracking performance of an input-constrained bilinear system using MPC (Model Predictive Control) when a feasible tracking control is known. Since the error dynamics induced by the known tracking control is asymptotically stable, there exists a Lyapunov function for the stable error dynamics. By defining a cost function including the Lyapunov function and describing tracking performance, an MPC law is derived. In simulation, the performance of the proposed MPC law is demonstrated by applying it to a converter model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.335-335
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• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.

• 정보저장시스템학회논문집
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• 제2권1호
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• pp.56-64
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• 2006

This paper proposes a new and simple input prediction method for robust servo system. A robust tracking control system for optical disk drives to reject disk runout was recently proposed based on both Coprime Factorization(CF) and Zero Phase Error Tracking(ZPET) control. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness to parameter uncertainties and disturbance rejection capability. Since optical disk tracking servo systems can detect only racking error, it was proposed that the reference input signal for ZPET could be estimated from tracking errors. In this paper, we propose a new control structure for the ZPET controller. It requires less memory than the previously proposed method for the reference signal generation. Therefore, it is very effective in runout control. Furthermore, this method can be applied to defective optical disk like surface defects on disk. Numerical simulation and experimental result show the proposed method effective.

• 한국기계가공학회지
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• 제20권4호
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• pp.66-72
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• 2021

Since the behavior of an autonomous underwater vehicle (AUV) is influenced by disturbances and moments that are not accurately known, the depth control law of AUVs must have the ability to track the input signal and to reject disturbances simultaneously. Here, we proposed robust tracking control for controlling the depth of an AUV. An augmented closed-loop system is represented by an error dynamic equation, and we can easily show the asymptotic stability of the overall system by using a Lyapunov function. The robust tracking controller is consisted of the internal model of the command signal and a state feedback controller, and it has the ability to track the input signal and reject disturbances. The closed-loop control system is robust to parameter uncertainties. Simulation results showed the control performance of the robust tracking controller to be better than that of a P + PD controller.

• 한국항공우주학회지
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• 제33권8호
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• pp.50-55
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• 2005

현대의 고성능 전투기는 공력성능 및 조종성능의 향상을 위하여 대부분 세로축 방향으로 항공기를 불안정하게 설계하는 정안정성 완화(Relaxed Static Stability) 개념을 채택하고 있다. 비행제어법칙의 설계 작업은 이러한 불안정하게 설계된 항공기가 주어진 비행임무에 대하여 만족스런 안정성과 조종성능을 발휘할 수 있도록 비행성능을 조작하는 일련의 과정이다. 전투기의 조종성능은 공대공 전투(Air-to-Air Fighting)와 공대지 전투(Air-to-Ground Fighting)로 분류할 수 있다. 공대공 전투 시에는 전체포착(Gross Acquisition) 및 정밀추적(Fine Tracking)성능을 동시에 만족해야 한다. T-50 비행시험 결과, 공대공 추적에서 전체포착성능은 만족하지만, 정밀추적성능은 만족하지 못하였다. 본 논문에서는 정밀추적성능의 향상을 위해 새로운 개념의 세로축 제어법칙 적용에 관한 연구 방향을 제시하였다. HQS 조종사 시뮬레이션 및 비행시험 결과, 본 제어법칙을 적용하였을 때 전체포착성능의 저하 없이 정밀추적성능을 개선시킬 수 있었다.

• 한국태양에너지학회:학술대회논문집
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• 한국태양에너지학회 2008년도 춘계학술발표대회 논문집
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• pp.61-67
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• 2008

In this paper proposed the solar tracking system to use a fuzzy based on PC in order to increase an output of the PV array. The solar tracking system operated two DC motors driving by signal of photo sensor. The control of dual axes is not an easy task due to nonlinear dynamics and unavailability of the parameters. Recently, artificial intelligent control of the fuzzy control, neural-network and genetic algorithm etc. have been studied. The fuzzy control made a nonlinear dynamics to well perform and had a robust and highly efficient characteristic about a parameter variable as well as a nonlinear characteristic. Hence the fuzzy control was used to perform the tracking system after comparing with error values of setting-up. nonlinear altitude and azimuth. In this paper designed a fuzzy controller for improving output of PV array and evaluated comparison with efficient of conventional PI controller. The data which were obtained by experiment were able to show a validity of the proposed controller.

• Journal of Advanced Marine Engineering and Technology
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• 제38권10호
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• pp.1318-1326
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• 2014

The purpose of a tracking control system is to track a moving target and to find the exact information of the target. If the platform of the tracking control system is equipped on a moving vehicle such as a ship, the tracking control system will treat even the additional platform motion. In order to avoid the complexity comprising the tracking control system, a process to treat the platform motion, named stabilizing system, must be separated from the tracking control system. In this paper, a method to comprise an attitude control system for the platform stabilization is proposed using an adaptive fuzzy control which is applicable to the system with structural and parametric uncertainty. The suggested adaptive fuzzy control algorithm is the 2nd/1st-type indirect adaptive fuzzy control algorithm using the advantages of 1st-type and 2nd-type indirect adaptive fuzzy control algorithm. Several experiments using the implemented stabilizing system are executed for verifying the effectiveness of the suggested method.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(1)
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• pp.133-136
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• 2001

In this work, the problem of regulating and tracking available bit rate (ABR) traffic in ATM network. The issue of providing control signals to throttled sources at distant location from bottlenecked node is of particular interest. Network modeling and design of controller is outlined. To obtain optimal control, receding horizon control (RHC) theory is applied. Simulation results are presented in views of regulation and tracking problems with or without constraints.