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International Journal of Control, Automation and S... 20건

  1. [국내논문]   Nanoscale Dynamics, Stochastic Modeling, and Multivariable Control of a Planar Magnetic Levitator  

    Kim, Won-Jong (Department of Mechanical Engineering, Texas A&M University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 1 - 10 , 2003 , 1598-6446 ,

    초록

    This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$ ), and closed-loop crossover frequency of 100 Hz.

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  2. [국내논문]   Parametric Approaches to Sliding Mode Design for Linear Multivariable Systems   피인용횟수: 2

    Kim, Kyung-Soo (Digital Media Research Laboratory, LG Electronics Inc. ) , Park, Young-Jin (Department of mechanical Engineering, KAIST)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 11 - 18 , 2003 , 1598-6446 ,

    초록

    The parametric approaches to sliding mode design are newly proposed for the class of multivariable systems. Our approach is based on an explicit formula for representing all the slid-ing modes using the Lyapunov matrices of full order. By manipulating Lyapunov matrices, the sliding modes which satisfy the design criteria such as the quadratic performance optimization and robust stability to parametric uncertainty, etc., can be easily obtained. The proposed ap-proach enables us to adopt a variety of Lyapunov- (or Riccati-) based approaches to the sliding mode design. Applications to the quadratic performance optimization problem, uncertain systems, systems with uncertain state delay, and the pole-clustering problem are discussed.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

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  3. [국내논문]   Robust High Gain Adaptive Output Feedback Control for Nonlinear Systems with Uncertain Nonlinearities in Control Input Term  

    Michino, Ryuji (Graduate School of Science and Technology, Kumamoto University ) , Mizumoto, Ikuro (Department of Mechanical Engineering and materials Science, Kymamoto University ) , Iwai, Zenta (Department of Mechanical Engineering and materials Science, Kymamoto University ) , Kumon, Makoto (Department of Mechanical Engineering and materials Science, Kymamoto University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 19 - 27 , 2003 , 1598-6446 ,

    초록

    It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition called output feedback exponential passivity (OFEP). The designed high-gain adaptive controller has simple structure and high robustness with regard to bounded disturbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we design a robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances. The effectiveness of the proposed method is shown by numerical simulations.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  4. [국내논문]   A Simple Nonlinear Control of a Two-Wheeled Welding Mobile Robot   피인용횟수: 3

    Bui, Trong-Hieu (Department of mechanical Engineering, College of Eng., Pukyong National University ) , Nguyen, Tan-Tien (Department of mechanical Engineering, Hochiminh City University ) , Chung, Tan-Lam (Department of Mechanical Engineering, College of Eng., Pukyong National University ) , Kim, Sang-Bong (Department of mechanical Engineering, College of Eng., Pukyong National University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 35 - 42 , 2003 , 1598-6446 ,

    초록

    This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  5. [국내논문]   Command Shaping Control for Limiting the Transient Sway Angle of Crane Systems   피인용횟수: 10

    Hong, Kyung-Tae (School of Mechanical Engineering, Pusan National University ) , Huh, Chang-Do (School of Mechanical Engineering, Pusan National University ) , Hong, Keum-Shik (School of Mechanical Engineering, Pusan National University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 43 - 53 , 2003 , 1598-6446 ,

    초록

    A modified command shaping control to reduce residual vibrations at a target position and to limit the sway angle of the payload during traveling for container crane systems is investigated. When the maneuvering time is minimized, a large transient amplitude and steady state oscillations may occur inherently. Since a large swing of the payload during the transfer is dangerous, the control objective is to transfer a payload to the desired place as quickly as possible while limiting the swing angle of the payload during the transfer. The conventional shapers have been enhanced by adding one more constraint to limit intermediate sway angles of the payload. The developed method is shown to be more effective than other conventional shapers for prevention of an excessive transient sway. Computer simulation results are provided.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  6. [국내논문]   An Estimation Approach to Robust Adaptive Control of Uncertain Nonlinear Systems with Dynamic Uncertainties  

    Ahn, Choon-Ki (School of Electrical Engineering, Korea University ) , Kim, Beom-Soo (School of Electrical Engineering, Korea University ) , Lim, Myo-Taeg (School of Electrical Engineering, Korea University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 54 - 67 , 2003 , 1598-6446 ,

    초록

    In this paper, a novel estimation technique for a robust adaptive control scheme is presented for a class of uncertain nonlinear systems with a general set of uncertainty. For a class of introduced more extended semi-strict feedback forms which generalize the systems studied in recent years, a novel estimation technique is proposed to estimate the states of the fully nonlinear unmodeled dynamics without stringent conditions. With the introduction of powerful functions, the estimation error can be tuned to a desired small region around the origin via the estimator parameters. In addition, with some effective functions, a modified adaptive backstepping for dynamic uncertainties is presented to drive the output to an arbitrarily small region around the origin by an appropriate choice of the design parameters. With our proposed schemes, we can remove or relax the assumptions of the existing results.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  7. [국내논문]   Trajectory Planning for Industrial Robot Manipulators Considering Assigned Velocity and Allowance Under Joint Acceleration Limit   피인용횟수: 2

    Munasinghe, S.Rohan (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University ) , Nakamura, Masatoshi (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University ) , Goto, Satoru (Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University ) , Kyura, Nobuhiro (Department of Electrical Engineering, Kinki University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 68 - 75 , 2003 , 1598-6446 ,

    초록

    This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  8. [국내논문]   A Study on Integral Equalities Related to a Laplace Transformable Function and its Applications  

    Kwon, Byung-Moon (Guidance and Control Department, Korea Aero Space Research Institute ) , Ryu, Hee-Seob (Ubiquitous Computing Lab., Samsung Advanced Institute of Technology ) , Kwon, Oh-Kyu (School of Electrical and Computer Engineering, Inha University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 76 - 82 , 2003 , 1598-6446 ,

    초록

    This paper establishes some integral equalities formulated by zeros located in the convergence region of a Laplace transformable function. Using the definition of the Laplace transform, it shows that Laplace transformable functions have to satisfy the integral equalities in the time-domain, which can be applied to the understanding of the fundamental limitations on the control system represented by the transfer function. In the unity-feedback control scheme, another integral equality is derived on the output response of the system with open-loop poles located in the convergence region of the output function. From these integral equalities, two sufficient conditions related to undershoot and overshoot phenomena in the step response, respectively, are investigated.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  9. [국내논문]   Antenna Control System Using Step Tracking Algorithm with H$_{\infty}$ Controller   피인용횟수: 1

    Cho, Chang-Ho (Information & Control Engineering Department, Kwangwoon University ) , Lee, Sang-Hyo (Information & Control Engineering Department, Kwangwoon University ) , Kwon, Tae-Yong (National Star, Co. ) , Lee, Cheol (Finix System, Co.)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 83 - 92 , 2003 , 1598-6446 ,

    초록

    The outdoor antenna servo system is subject to has significant torque disturbances from wind pressures and gusts on the antenna structures, as well as bearing and aerodynamic frictions. This control system should provide a sharp directivity in spite of the environmental disturbances and internal uncertainties. Therefore, the implementation of a real-time controller is necessary for the precise generation of the reference signal and robust tracking performance. In this paper, the discrete-time controller for the quick tracking of a target communication satellite is designed by applying the sampled-data $H_{\infty}$ control theory along with the reference signal generated by an improved conventional step-tracking algorithm. The sampled-data $H_{\infty}$ controller demonstrates superior robustness for the longer sampling period when compared with a simple PID controller.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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  10. [국내논문]   An Intelligent Tracking Method for a Maneuvering Target   피인용횟수: 7

    Lee, Bum-Jik (Department of Electrical and Electronic Engineering, Yonsei University ) , Joo, Young-Hoon (School of Electronic and Information Engineering, Kunsan University ) , Park, Jin-Bae (Department of Electrical and Electronic Engineering, Yonsei University)
    International Journal of Control, Automation and Systems v.1 no.1 ,pp. 93 - 100 , 2003 , 1598-6446 ,

    초록

    Accuracy in maneuvering target tracking using multiple models relies upon the suit-ability of each target motion model to be used. To construct multiple models, the interacting multiple model (IMM) algorithm and the adaptive IMM (AIMM) algorithm require predefined sub-models and predetermined acceleration intervals, respectively, in consideration of the properties of maneuvers. To solve these problems, this paper proposes the GA-based IMM method as an intelligent tracking method for a maneuvering target. In the proposed method, the acceleration input is regarded as an additive process noise, a sub-model is represented as a fuzzy system to compute the time-varying variance of the overall process noise, and, to optimize the employed fuzzy system, the genetic algorithm (GA) is utilized. The simulation results show that the proposed method has a better tracking performance than the AIMM algorithm.

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    회원님의 원문열람 권한에 따라 열람이 불가능 할 수 있으며 권한이 없는 경우 해당 사이트의 정책에 따라 회원가입 및 유료구매가 필요할 수 있습니다.이동하는 사이트에서의 모든 정보이용은 NDSL과 무관합니다.

    NDSL에서는 해당 원문을 복사서비스하고 있습니다. 아래의 원문복사신청 또는 장바구니담기를 통하여 원문복사서비스 이용이 가능합니다.

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