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Tracking control of wheeled mobile robot using a receding horizon controller with time-delay
Yu Gao,Kil To Chong(정길도) 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
In this study, a receding horizon (RH) controller is developed for the tracking control of wheeled mobile robots (WMRs) subject to nonholonomic constraints in environments without obstacles. The tracking-error kinematic model is first linearized at the equilibrium point. Then, it is transformed into an exact discrete form considering the time-delay. The control policy is derived from the optimization of a quadratic cost function, which penalizes the tracking error and control variables in each sampling time. The minimization problem is solved by using the OP (Quadratic Programming) method taking the current error state as the initial value and including the input constraints, which include the velocity and acceleration constraints to prevent the mobile robot from slipping. The performance of the control algorithm is verified via computer simulations with predefined trajectory showing that the strategy is feasible.
PD Control For Quadrotor Hovering
Ang Zhang,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
In this paper, a Proportional-Derivative (PO) control method is investigated for a quadrotor to solve attitude control problems. The main target is to design controllers that provide required performances during the quadrotor hovering. A complete simulation model of the angel system dynamic was developed and used to tune controllers in Matlab and Simulink. Simulations results are carried out to prove the effectiveness of the proposed strategy.
김동원,한병성,정길도,김용준,김명순,임태영,채석,Kim, Dong-Won,Han, Byung-Sung,Chong, Kil-To,Kim, Yong-Jun,Kim, Myoung-Soon,Lim, Tae-Yeong,Chae, Seok 대한산업공학회 1998 산업공학 Vol.11 No.3
The agriculture and fishery share in the Korean GDP is continuously decreasing after 1960s. Furthermore the proportion of these industries in the GDP has diminished as low as 10 percent in recent years. However, the stockbreeding sector in these industries are considerably expanded. More than 50 percent of the whole farmhouses are involved in the livestock farming, and the stock farming portion is steadily increased in its size and scope. Thus, the mechanization and the automization of stockbreeding equipments are greatly required to reduce down production cost, as well as to win the competitiveness in the global market. From this aspect, developed in this paper is a stockbreeding management system (SMS) for dairy cattle, which can be used in small and medium sized dairy farms. First, the basic schema of the stockbreeding management system are addressed in view of stockbreeding management for individual dairy cattle. Electronic identification (EI) systems and sensory devices have changed stockbreeding management strategy from group stock control into individual stock control manner. The SMS receives stock body measurement data through the sensory devices such as weight, temperature, and milk conductivity meters. A common database then integrates those measuring data together so that the SMS can determine the appropriate solution on each stock's breeding such as feeding and milking. Thus, each stock can be supervised by a sophisticated SMS that provides the best solution to the stockbreeding throughout the stock's whole life-cycle. Secondly. six major submodules of the SMS, based on the EI and sensory devices, are proposed. They are individual stock management, disease management, health management, feeding management, milking management, and a propagation management submodule. Finally, a prototype system for the SMS is demonstrated. The system is developed using Delphi 2 client-server system run under the Windows 95 environment.
Impact of Kalman Filtering in Battery Management Systems
Nashatar Singha,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
This paper analyzes the stability of a battery management system (BMS) in hybrid electrical vehicles. The purpose of the BMS is to guarantee safe and reliable battery operation. It is shown that the internal resistance and internal voltage of the battery affect system stability. Variations in these parameters may occur due to aging. Using average-value modeling, this problem is framed into a nonlinear system formulation and the region of stability as a function of the internal resistance and the internal voltage of the battery is determined. This paper also extends its results in determining the configuration of a battery pack in terms of the number of battery cells in series and parallel to prevent instability while meeting demand power requirements. The findings are useful both in the design and operation stages of large-scale battery storage systems in the grid. To maintain this purpose, state monitoring and evaluation, state of charge (SoC), state of health (SoH), remaining useful life (RUL) and cell balancing are functionalities that have been implemented in BMS. The uncertainty of a battery’s performance poses a challenge to the implementation of these functions. Through reviewing the latest methodologies for the state evaluation of batteries, the future challenges for BMSs are presented and possible solutions are proposed as well.
Xian Zang,Kil To Chong(정길도) 제어로봇시스템학회 2012 제어로봇시스템학회 각 지부별 자료집 Vol.2012 No.12
A clustering method using fast global kernel fuzzy c-means is developed to segment the speech signal into small non-overlapping blocks for consonant/vowel segmentation. This method proceeds in an incremental way attempting to optimally add new cluster center at each stage through kernel fuzzy c-means. It overcomes the well-known shortcomings of the most popular clustering method, fuzzy c-means, and improves the clustering accuracy. Due to the speeding up scheme, the complexity is lowered and the convergence speed is improved. Simulation results demonstrate the effectiveness of the proposed method in consonant/vowel segmentation.
Fuzzy logic based Obstacle Avoidance system for Mobile Robot
Subbash Panati,Kil to Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
Mobile robot navigation in real world environment is a key research area related to autonomous robots. Path planning and obstacle avoidance play a key role in mobile robot navigation. This paper proposes a sensor based path planning method which utilizes fuzzy logic for mobile robot obstacle avoidance. The ultrasonic sensors are used to acquire the information about the environment around the mobile robot, based on the sensor readings the fuzzy rules are fired to make a decision on the angular velocity of the left and right wheels of mobile robot. The fuzzy rules and membership functions are constructed based on human reasoning and are tuned by iterative simulations. The simulation results show the effectiveness of the proposed method.