• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.310-316
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• 1986

The problem of finding an allowable object trajectory for a cooperating two-robot system is investigated. The method proposed in this paper is based on reformulating the problem as a nonlinear optimization problem with equality constants in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The method has been succesfully applied to an experimental system.

• 대한수학회지
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• 제34권3호
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• pp.553-567
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• 1997

This paper is concerned with the control problem $$ \dot{x}(t) = F(x) + u(t)G(x), t \in [0,T], x(0) = 0, $$ where F and G are smooth vector fields on $R^n$, and the admissible controls u satisfy the constraint $$\mid$u(t)$\mid$ \leq 1$. We provide the sufficient condition that the bang-bang trajectories having different switching orders intersect.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권5호
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• pp.323-330
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• 2004

In this paper, we propose a design method of PID controller using an improved Tabu Search. Tabu Search is improved by neighbor solution creation using Gaussian random distribution and generalized Hermite Biehler Theorem for stable bounds. The range of admissible proportional gains are determined first in closed form. Next the optimal PID gains are selected by improved Tabu Search. The results of Computer simulations represent that the proposed Tabu Search algorithm shows a fast convergence speed and a good control performance.

• 제어로봇시스템학회논문지
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• 제5권1호
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• pp.39-46
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• 1999

Disturbances acting on the track-following servo system of an optical disk drive inherently contain significant periodic components that cause tracking errors of a periodic nature. Such disturbances can be effectively rejected by employing a repetitive controller, which must be implemented carefully in consideration of system stability. Plant uncertainty makes it difficult to design a repetitive controller that will improve tracking performance yet preserve system stability. In this paper, we examine the problem of designing a repetitive controller for an optical disk drive track-following servo system with uncertain plant coefficients. We propose a graphical design technique based on the frequency domain analysis of linear interval systems. This design method results in a repetitive controller that will maintain system stability against all admissible plant uncertainties. We show simulation and experimental results to verify the validity of the proposed design method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(II)
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• pp.1174-1177
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• 1987

The design of flow control protocols for integrared networks with complete voice traffic on the data link level is investigated. The class of admissible flow control policies analyzed maximized the average data link throughput subject to an average system time delay constraints a finite intervals (O,s). In particular, it is shown that the optimum control law is bang-bang (window flow mechanism). The window size L can be analytically derived from maximum tolerated time delay T, the input arrival C of the queueing system, the duration of the time interval S, the initial number of packets in the queue.

• International Journal of Control, Automation, and Systems
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• 제6권1호
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• pp.15-23
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• 2008

This paper considers the problem of delay-dependent guaranteed cost controller design for uncertain neutral systems with distributed delays. The system under consideration is subject to norm-bounded time-varying parametric uncertainty appearing in all the matrices of the state-space model. By constructing appropriate Lyapunov functionals and using matrix inequality techniques, a state feedback controller is designed such that the resulting closed-loop system is not only robustly stable but also guarantees an adequate level of performance for all admissible uncertainties. Furthermore, a convex optimization problem is introduced to minimize a specified cost bound. By matrix transformation techniques, the corresponding optimal guaranteed controller can be obtained by solving a linear matrix inequality. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed approach.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.581-588
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• 2007

In this paper, we propose a delayed feedback guaranteed cost controller design method for linear time-delay systems with norm-bounded parameter uncertainties and nonlinear perturbations. A quadratic cost function is considered as the performance measure for the given system. Based on the Lyapunov method, an LMI optimization problem is formulated to design a controller such that the closed-loop cost function value is not more than a specified upper bound for all admissible system uncertainties and nonlinear perturbations. Numerical example show the effectiveness of the proposed method.

• 한국컴퓨터정보학회논문지
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• 제6권3호
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• pp.72-77
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• 2001

ATM 트래픽 제어의 다중화 구조에서 셀 도착 프로세스에 대한 가정 없이 실시간 연결수락제어에 대한 트래픽 클래스 관계식을 이용하여 연결수락제어 방법을 제안했다. 트래픽 클래스 관계식은 각 클래스의 요구된 서비스 품질을 보장하기 위해서 기대된 순간 버퍼 요구를 고려한 연결 수락 가능 범위로부터 3개 또는 4개의 일차 부등식에 의해서 구현하였다.

• Journal of applied mathematics & informatics
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• 제9권2호
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• pp.717-730
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• 2002

In this paper we use measure theory to solve a wide range of the nonlinear programming problems. First, we transform a nonlinear programming problem to a classical optimal control problem with no restriction on states and controls. The new problem is modified into one consisting of the minimization of a special linear functional over a set of Radon measures; then we obtain an optimal measure corresponding to functional problem which is then approximated by a finite combination of atomic measures and the problem converted approximately to a finite-dimensional linear programming. Then by the solution of the linear programming problem we obtain the approximate optimal control and then, by the solution of the latter problem we obtain an approximate solution for the original problem. Furthermore, we obtain the path from the initial point to the admissible solution.

• 대한전기학회논문지
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• 제43권6호
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• pp.971-981
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• 1994

In this paper, we consider feedback-linearizing control of VR (Variable Reluctance) motors which have been increasingly used in high performance direct-drive applications. We characterize all torque controllers that can make the generated torque of a VR motor linear to torque command but without torque ripple. The torque controlles maximize the range of torque commands which are admissible under the physical limitation in stator currents. The whole class of all such torque controllers is parameterized in the explicit form which contains a function to be chosen freely. This free function can be used to achieve other control objectives as well as linear dynamic characteristics. As the examples for optimal choices of the free function, we actually determine two optimal free functions, one for minimal rate of change in current commands and the other for minimal power loss due to stator resistance. To illuminate further the practical use of torque controllers proposed in this paper, we present some experimental results for the case of a commercially available VR motor.