• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.49 no.5
• /
• pp.249-256
• /
• 2000

This paper deals with the control of the lateral motion of a mobile vehicle. A mobile vehicle using in this experiment is able to adapt many unmanned automatic driving system, for example, like a automated product transporting system. This vehicle is consist of the two servomotors. One is used to accelerate this vehicle and the another is used to change this lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral motion of the vehicle. Therefore, the main aim of this paper is investigate the possibility of applying adaptive fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. Fuzzy control rules are derived by modelling an expert's driving actions. Experiments are performed using a mobile vehicle with sensing units, a microprocessor and a host computer.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.11
• /
• pp.1094-1102
• /
• 2008

Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.16 no.5
• /
• pp.105-110
• /
• 2016

Recently, as to changes in the paradigm of domestic manufacturing CNC industry, the application of advanced technologies in machine tools are actively being pursued. IT in responsible for controlling it is the most important part in the field of CNC. The biggest lack of the necessary expertise in the field of motion control in CNC is coding G-Code in setting adjust coordinate directly and convert it through expensive foreign s/w rather than using windows language in PC based controller. In this paper, We implemented G-Code convert program that is change various type of CAD data to G-Code data and CAD/CAM application program and developed exclusive motion controller which is to run a robot directly using changed data.

• Journal of Biomedical Engineering Research
• /
• v.42 no.4
• /
• pp.186-192
• /
• 2021

In this paper, we evaluated prediction accuracy of Euler angle spectrograph classification method using a convolutional neural networks (CNN) for hand gesture recognition in augmented reality (AR) cognitive rehabilitation system based on Leap Motion Controller (LMC). Hand gesture recognition methods using a conventional support vector machine (SVM) show 91.3% accuracy in multiple motions. In this paper, five hand gestures ("Promise", "Bunny", "Close", "Victory", and "Thumb") are selected and measured 100 times for testing the utility of spectral classification techniques. Validation results for the five hand gestures were able to be correctly predicted 100% of the time, indicating superior recognition accuracy than those of conventional SVM methods. The hand motion recognition using CNN meant to be applied more useful to AR cognitive rehabilitation training systems based on LMC than sign language recognition using SVM.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.385-388
• /
• 1996

A time delay controller with state feedback is proposed for azimuth motion control of the frictionless positioning device which is subject to the variations of inertia in the presence of measurement noise. The time delay controller, which is combined with a low-pass filter to attenuate the effect of measurement noise, ensures the asymptotic stability of the closed loop system. It is found that the low-pass filter tends to increase the robustness in the design of time delay controller as well as the gain and phase margins of the closed loop system. Numerical and experimental results support that the proposed controller guarantees a good tracking performance irrespective of the variation of inertia and the presence of measurement noise.

• Journal of Advanced Research in Ocean Engineering
• /
• v.3 no.1
• /
• pp.25-31
• /
• 2017

Generally, underwater gliders do not have separate propellers for their forward movement. They derive a propulsive force due to the difference between their buoyancy and gravity. The attitude of an underwater glider is controlled by changing the relative position of the buoyancy center and mass center. In this study, we derived nonlinear 6-DOF dynamic and mathematical models for the motion controller and buoyancy controller. Using these equations, we performed dynamic underwater glider simulations and verified the suitability of the design and dynamic performance of the proposed underwater glider.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.3
• /
• pp.361-368
• /
• 1997

In order to eliminate position errors existing at the steady state in the motion control of robotic manipulators, a new fuzzy control algorithm is propeosed using three variables, position error, velocity error and integral of position errors as input variables of the fuzzy controller. Although the number of input variables of the fuzzy controller is increased from two to three, the number of fuzzy control rules is just increased by two. Three dimensional look-up table is used to reduce the computational time in real-time control, and a technique reducing the amount of necessary memory is introduced. Simulation and experimental studies show that the position errors at the steady state are decreased more than 90% compared to those of existing fuzzy controller when the proposed fuzzy controller is applied to the 2 axis direct drive SCARA robot manipulator.

• Journal of Power System Engineering
• /
• v.7 no.1
• /
• pp.51-59
• /
• 2003

The recent amount of container freight continuously has been increased, but the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. It is required that the working velocity and safety are improved by control of moving the trolley as quick as possible without large overshoot and any residual swing motion of container at the destination. In this paper, a LQ Fuzzy controller for a container crane is proposed to accomplish an optimal design of improved control system for minimizing the swing motion at destination. In this scheme a mathematical model for the system is obtained in state space form. Finally, the effectiveness of the proposed controller is verified through computer simulation.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.26 no.3
• /
• pp.313-319
• /
• 2017

This study presents a genetic algorithm (GA) to design a PID controller systematically for an inchworm operated by piezoelectric actuators. The performance index considering overshoot and settling time is adopted to search an optimal PID gain using GA. The piezoelectric actuator shows nonlinear characteristics including hysteresis and residual displacement. The PID feedback system combined with an integrator is used to improve the ability of tracking the complex input signals and suppressing the steady state error. The PID controller tuned by GA can track the various motion contours effectively. However, the PID controller shows an improper residual vibration under the application of high-frequency square input. The input shaper combined with the feedback system can overcome this limitation of the PID controller.

• Ocean Systems Engineering
• /
• v.1 no.2
• /
• pp.171-194
• /
• 2011

A method to design a boundary controller for global stabilization of three-dimensional nonlinear dynamics of flexible marine risers is presented in this paper. Equations of motion of the risers are first developed in a vector form. The boundary controller at the top end of the risers is then designed based on Lyapunov's direct method. Proof of existence and uniqueness of the solutions of the closed loop control system is carried out by using the Galerkin approximation method. It is shown that when there are no environmental disturbances, the proposed boundary controller is able to force the riser to be globally exponentially stable at its equilibrium position. When there are environmental disturbances, the riser is stabilized in the neighborhood of its equilibrium position by the proposed boundary controller.