• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.4
• /
• pp.104-109
• /
• 1997

A robust controller design to corrdinate a robot manipulator under unknown system parameters and bounded disturbance inputs is presented in this paper. Generally, robust controllers require high input torque so that they may face input saturation in actual application due to the power limitation of the actuator. To solve this problem, an improved robust controller with saturated input torque using a fuzzy logic control is proposed. Numerical examples are shown to validate the proposed controller using two degree-of-freedom planar arm.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.217-217
• /
• 2000

A decentralized robust EA(eigensoucture assignment) controller is designed for an active suspension system of a vehicle based on a full car model with 7-degree of freedom. Using overlapping decomposition, the full car model is decentralized by two half car models. For each half car model, a robust eigenstructure assignment controller can be obtained by using optimization approach. The performance of the decentralized robust EA controller is compared with that of a conventional centralized EA controller through computer simulations.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2645-2647
• /
• 2000

This paper presents an LMI(Linear Matrix Inequalities) method for designing the optimal decoupling controller. The proposed controller based on the Two-Degree-of-Freedom configuration considers both the performance of controller and decoupling properties. The decoupling controller parameters are obtained from LMI method for computational efficiency.

• Proceedings of the KIEE Conference
• /
• 2003.07d
• /
• pp.2456-2458
• /
• 2003

Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from the initial coordinate to the finial coordinate, the container paths should be built in terms of the least time and without sway. Therefore, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate in this paper. And we constructed the neural network predictive two degree of freedom PID (NNPPID) controller to control the precise navigation. The proposed Predictive control system is composed of the neural network predictor, two degree of freedom PID(TDOFPID) controller, neural network self-tuner which yields parameters of TDOFPID. We analyzed crane system through simulation, and proved excellency of control performance over the conventional controllers.

• Journal of Korean Port Research
• /
• v.13 no.2
• /
• pp.389-398
• /
• 1999

In the biological immunity, the immune system of organisms regulates the antibody and T-cells to protect the attack from the foreign materials which are virus, germ cell, and other antigens, and supports their stable state. It has similar characteristics that has the adaptation and robustness to overcome disturbances and to control the plant of engineering application. In this paper, we build a model of the T-cell regulated immune response mechanism. We have also designed an immune response controller(IRC) focusing on the T-cell regulated immune response of the biological immune system that include both a help part to control the response and a suppress part to adjust system stabilization effect. We show some computer simulation to control the vibration of building structure system with strong wind forces excitation also demonstrate the efficiency of the proposed controller for applying a practical system even with existing nonlinear terms.

• Journal of Electrical Engineering and Technology
• /
• v.6 no.5
• /
• pp.706-712
• /
• 2011

Necessary and sufficient conditions for the existence of diagonal, block-diagonal, and triangular decoupling controllers in linear multivariable systems for the most general setting are presented. The plant model in this study is sufficiently general to accommodate non-square plant and non-unity feedback cases with one-degree-of-freedom (1DOF) or two-degree-of-freedom (2DOF) controller configuration. The existence condition is described in terms of rank conditions on the coefficient matrices in partial fraction expansions.

• Proceedings of the KIEE Conference
• /
• 1991.07a
• /
• pp.805-808
• /
• 1991

In this paper, dynamical model and control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object. Controller consist of forward controller which is reduced order model and compensator that compensates for modeling error. Control laws are determined so as to decouple the force and position controlled degree of freedom(DOF) during motion of the system.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.477-481
• /
• 1993

The aim of this paper is to analyze via computer simulation the robust performance of TDF(Two Degree of Freedom) H.$_{\infty}$ controller for uncertain systems having parameter uncertainty. We apply the TDF H$_{\infty}$ controller to autopilot design. We evaluate the robust performance of the TDF H$_{\infty}$ controller for uncertain systems and present the guaranteed bound of robust performance via computer simulation.on.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.319-319
• /
• 2000

In this paper, A dead-time compensator (DTC) for the processes with long dead-time is proposed. The processes which consist of dead-time, time-constant, gain are estimated by the linear least squares method in the frequency domain. A Smith predictor(SP) modified by including a filter becomes a two degree of freedom DTC. So the proposed DTC can yield the desirable setpoint and load disturbance responses separately. PI controller is used for the primary controller and the filter is tuned to be robust. Simulation examples demonstrate the properties of the proposed DTC.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2004.05b
• /
• pp.506-510
• /
• 2004

A torque transmission system composed of several gears and couplings is flexible. In order to get an exact response of motor, the torsional vibration due to an unexpected change of motor speed must be suppressed. Therefore, it is very important that motor control suppress vibration. Various methods to control it including dual inertia system are proposed. Specially, the method of vibration suppression is that vibration can be suppressed to fee㏈ack the estimated torsion torque via the disturbance observer filter being of normal filter. The suitable Proportional controller and coefficient parameter can be designed using CDM and the torsional vibration also be suppressed, but it has a low degree of adaptability to disturbance. The PID controller can be designed easily, but makes the excessive overshoot and oscillation for system response in the early period. To resolve these problems, simple and practical PID controller with two degree of freedom is proposed recently that it ran improve performance of obeying the reference unconcerned in any disturbance by changing the proportional gain by two degree of freedom parameter. But it has also the defect that parameter a must be changed to obtain the ideal Proportional parameter. On this paper, we design the controller which automatically adjusts parameter u using fuzzy Algorithm to overcome such defects. Also, we compare the proposed method with established one and evaluate them to confirm performance of the designed controller.