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RISS 인기검색어
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- 저자 : Yuanliang Zhang(장원량) (검색결과 4 건)
- 무료
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A Navigation System for Mobile Robot
장원량(Yuanliang Zhang),정길도(Kil To Chong) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
In this paper, we present the Q-learning method for adaptive traffic signal control on the basis of multi-agent technology. The structure is composed of sixphase agents and one intersection agent. Wireless communication network provides the possibility of the cooperation of agents. As one kind of reinforcement learning, Q-learning is adopted as the algorithm of the control mechanism, which can acquire optical control strategies from delayed reward; furthermore, we adopt dynamic learning method instead of static method, which is more practical. Simulation result indicates that it is more effective than traditional signal system.
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Path Following Control For Mobile Robots Using Model Algorithm Control
장원량(Zhang Yuanliang),정길도(Kil To Chong) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.10
This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steeredwheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is controlled to track several different reference paths. It is shown that the control strategy is feasible.
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Model Algorithmic Control for Multi-Input Nonlinear Time-delay System
Yuanliang Zhang(장원량),Kil To Chong(정길도) 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
In this paper a digital controller for nonlinear MIMO system with time-delayed input is proposed. A nonlinear system with multi-input time-delay is discretized by using Taylor’s discretization method. And the discretized system can be converted to a general nonlinear system. For this reason, general nonlinear controller synthesis can be applied to the discretized time-delay system. We adopted MAC controller synthesis for this study. computer simulations are conducted to verify the performance of the proposed method. The results of simulation show good performance of the proposed controller synthesis.
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장원량(Zhang Yuanliang),김홍철(Hong Chul Kim),정길도(Kil To Chong) 대한전자공학회 2009 電子工學會論文誌-SC (System and control) Vol.46 No.2
본 논문에서는 입력에 시간 지연이 존재하는 비선형 다중입출력(multi-input/multi-output (MIMO)) 시스템을 위한 디지털제어기를 제안하였다. 다중 입력 시간 지연 비선형 시스템을 테일러의 추산 방법으로 이산화하고, 이 이산형 시스템을 일반적인 비선형 시스템으로 변환할 수 있다. 결과적으로, 일반 비선형 제어기를 이산형 시간 지연 시스템에 적용할 수 있다. 본 논문에서는 MAC 제어기를 설계하고 컴퓨터 시뮬레이션을 실시하여 제안된 방법의 성능을 검증하였다. 시뮬레이션의 결과 제안된 제어기는 비선형 다중입력 다중 시스템에 있어서 입력에 시간지연이 발생하더라도 시스템의 성능을 유지함을 확인할 수 있었다. 따라서 제안된 방법은 비선형 시간 지연 시스템의 제어에 유용함을 알 수 있다. This paper proposes a digital controller for a nonlinear multi-input/multi-output(MIMO) system with time-delayed input. A nonlinear system with multi-input time delay is discretized using Taylor's discretization method, and the discretized system can be converted into a general nonlinear system. Consequently, general nonlinear controller synthesis can be applied to the discretized time-delay system. We adopted MAC controller synthesis and verified the performance of the proposed method by conducting computer simulations. The results of the simulation showed that the proposed controller synthesis performs well and the proposed method is useful for controlling a nonlinear time-delay system.
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