• The Transactions of the Korean Institute of Electrical Engineers B
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• v.48 no.2
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• pp.83-88
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• 1999

Series connection of power semiconductor devices is selected in high voltage and high power applications. It is important to prevent the overvoltage from being induced across a device above ratings by the proper voltage balancing in the field of IGBT series connection. In addition, the overvoltage induced by a stray inductance has to be limited in the high power circuit. This paper proposes a new gate control scheme which can balance the voltage properly and limit the overshoot by controlling the slope of collector voltage under the turn-off transient in the series connected IGBTs. The proposed gate control scheme changes the slope of collector voltage by sensing the collector voltage and controlling the gate signal actively. The new series connected IGBT gate driver is made and its validity is verified by the experimental results for series connected IGBT circuit.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Journal of Communications and Networks
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• v.4 no.2
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• pp.118-127
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• 2002

This paper proposes a new scheme - parallel control scheme with feedback control (PCFC) for ABR services in ATM networks. The information from a source is split into a number of streams, for delivery over separate parallel connections with particular coding. At the receiver, the original information is reconstructed by the received packet from the parallel connections. The effects of PCFC on the network performance are due to two factors: Traffic splitting and load balancing. By combinations of analysis and simulation, this paper studies the implications of PCFC for how the ABR parameters should be scaled and the advantages of PCFC compared with other existing schemes.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.1
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• pp.52-57
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• 2006

In this paper, we have proposed a new adaptive fuzzy control algorithm based on Takagi-Sugeno fuzzy model. The regulation problem for the uncertain SISO nonlinear system is solved by the proposed algorithm. Using the advanced stability theory, the stability of the state, the control gain and the parameter approximation error is proved. Unlike the existing feedback linearization based methods, the proposed algorithm can guarantee the global stability in the presence of the singularity in the inverse dynamics of the plant. The performance of the proposed algorithm is demonstrated through the problem of balancing and swing-up of an inverted pendulum on a cart.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.201-204
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• 1998

This paper presents a new construction method of candidate controllers using Multi-modal Neural Network(MNN). To improve a control performance of multiple controller, we construct, candidate controllers which consist of MNN. MNN can learn more complicated function than multilayer neural network. MNN consists of preprocessing module and neural network module. The preprocessing module transforms input signals into spectra which are used as input of the following neural network module. We apply the proposed method to multiple control system which controls the cart-pole balancing system and show the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 1998.11a
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• pp.156-158
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• 1998

This paper presents parallel operation of two 3-phase PWM converters whose Power and control schemes can be directly applied to a large capacity system. This paper describes power circuit, dc voltage regulation, input power factor correction and balancing load control of two converters. Switching device Is IGBT and CPU of control is 32-bit floating point DSP for real time instantaneous control. Simulations and experimental results for 20kw model conform the validity of proposed schemes.

• Proceedings of the KIEE Conference
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• 1998.11a
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• pp.195-197
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• 1998

The large scale industry needs high voltage converters. Therefore series connection of power semiconductor devices is necessary. It is important to prevent a device induced the overvoltage above ratings by proper voltage balancing in the field of IGBT series connection. In addition, the overvoltage induced by a stray inductance has to be limited in the high power circuit. This paper proposes a new gate control scheme which can balance the voltage properly and limit the overshoot by control the slope of collector voltage under series connected IGBT turn-off transient. The propose gate control scheme limits the overvoltage by sensing the collector voltage and controlling the gate signal actively. The new series connected IGBT gate driver is made and its validity is verified by the experimental results for series connected IGBT circuit.

• Convergence Security Journal
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• v.18 no.3
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• pp.3-9
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• 2018

The Deep Deterministic Policy Gradient (DDPG) algorithm is an algorithm that learns by using artificial neural network s and reinforcement learning. Among the studies related to reinforcement learning, which has been recently studied, the D DPG algorithm has an advantage of preventing the cases where the wrong actions are accumulated and affecting the learn ing because it is learned by the off-policy. In this study, we experimented to control the bicycle autonomously by applyin g the DDPG algorithm. Simulation was carried out by setting various environments and it was shown that the method us ed in the experiment works stably on the simulation.

• Journal of IKEEE
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• v.25 no.1
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• pp.148-155
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• 2021

As robot technology advances, research on the driving system of mobile robots is actively being conducted. The driving system of a mobile robot configured based on two-wheels and four-wheels has an advantage in unidirectional driving such as a straight line, but has disadvantages in turning direction and rotating in place. A ball robot using a ball as a wheel has an advantage in omnidirectional movement, but due to its structurally unstable characteristics, balancing control to maintain attitude and driving control for movement are required. By estimating the position from an encoder attached to the motor, conventional ball robots have a limitation, which causes the accumulation of errors during driving control. In this study, a driving control system was proposed that estimates the position coordinates of a ball robot through image processing and uses it for driving control. A driving control system including an image processing unit, a communication unit, a display unit, and a control unit for estimating the position of the ball robot was designed and manufactured. Through the driving control experiment applying the driving control system of the ball robot, it was confirmed that the ball robot was controlled within the error range of ±50.3mm in the x-axis direction and ±53.9mm in the y-axis direction without accumulating errors.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.