Robot Control Using Intelligent Gain Sliding Mode

Azita Yazdanpanah,Dr. Abbas ali Rezaee,Dr. Ahmad Faraahi 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.1

In this research, intelligent sliding mode controls are presented as robust controls for robot manipulators. The objective of the study is to design controls for robot manipulators without the knowledge of the boundary of the uncertainties by using an intelligent sliding mode control (SMC) while elucidating the robustness of the fuzzy SMC. A sliding mode control provides for unlimited accuracy in presence of bounded disturbance, although the sliding mode controller also causes chattering. Chattering is undesirable for use with actual component, since it might causes damage to them with a subsequent loss of accuracy. Such chatter is caused by overestimation of the controller gain. An intelligent sliding mode is proposed as a solution to the problems created by chattering; to illustrate, a continuum robot manipulator is simulated with an intelligent sliding mode control. The performance of intelligent gain sliding mode controller is demonstrated through the simulation results. The results of the simulations show the effectiveness for chattering mitigation by means of avoiding overestimation, and the robustness of an intelligent sliding mode control.

지능정보기술의 위험과 법적 대응 방안: 알고리즘에 대한 대응을 중심으로 하여

양천수(Yang, Chun Soo) 충북대학교 법학연구소 2021 法學硏究 Vol.32 No.1

As the 4th Industrial Revolution progresses, new social paradigms are emerging that have not been experienced before. The intelligent information society can be seen as one of them. Various new social utilities are created with the emergence of the intelligent information society in which the intelligent information technology represented by artificial intelligence plays a central role. But at the same time, new risks also are arising. Thus, how to respond to the risks posed by intelligent information technology is a new task to the legal system. In that situation, this article deals with the risks of intelligent information technology and the question of how it is desirable for the legal system to respond to those risks. To do this, the author use the legal theoretical method. Using this method, this article explores the risks of intelligent information technology and legal ways to respond to them. This article analyzes the risks of intelligent information technology based on the distinction of personal information, algorithms, and social use of intelligent information technology. Here risks related to collection and use of personal information, risks related to malfunction and bias of algorithms, and risks related to social use of intelligent information technology are investigated. In addition, it analyzes whether the current legal system has sufficient capacity to cope with these risks. Through this, this article presents the following regulatory principles for the risks of intelligent information technology. The practical harmony between the use and control of intelligent information technology, autonomous control, action-oriented control, pre-existing control, and reflective control. Based upon those, this article proposes the following regulatory measures. These include ethics, intelligent information technology certification, impact assessment, the right to explanation and complain, and the duty to improve intelligent information technology.

Robust Tracking Control Based on Intelligent Sliding-Mode Model-Following Position Controllers for PMSM Servo Drives

Fayez F. M. El-Sousy 전력전자학회 2007 JOURNAL OF POWER ELECTRONICS Vol.7 No.2

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

Robust Tracking Control Based on Intelligent Sliding-Mode Model-Following Position Controllers for PMSM Servo Drives

El-Sousy Fayez F.M. The Korean Institute of Power Electronics 2007 JOURNAL OF POWER ELECTRONICS Vol.7 No.2

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

정보기관에 대한 통제의 효율성 제고 방안

채성준(Chae, Seong-Joon) 한국공안행정학회 2015 한국공안행정학회보 Vol.24 No.4

본 연구는 민주국가에서 국민의 기본인권을 보장하고 알권리를 충족시키기 위해서는 정보기관에 대한 통제가 필수적인 상황에서 선진국의 정보기관 통제사례들을 토대로 우리나라의 현주소를 짚어보고 정책적 함의를 도출하는데 목적이 있다. 주요 국가들의 정보통제 상황을 종합 검토해 보면 국가정보기관이 태동한 냉전초기에는 대체로 국가안보적인 측면에서 정보활동 비밀성의 당위성에 대한 인식이 강해 정보통제의 필요성이 크게 부각되지 않았으나, 1970년대 들어 정보기관의 일탈 행위가 사회 문제화 되면서 비로소 정보통제의 중요성에 대해 주목하기 시작하고 제도적 기반이 구축되면서 다양한 형태의 통제가 이루어졌다. 정보통제 관련 우리나라의 사례를 살펴보면 1994년 국회 정보위원회가 설치되는 등 제도적인 기 반은 구축되었으나, 정보기관과 통제주체 간에 상호 신뢰를 바탕으로 하는 실질적인 정보통제가 이뤄지지 않고 있는 것으로 판단된다. 이러한 관점에서 정보통제의 주요 주체인 행정부, 입법부, 사법부, 그리고 언론등 각 분야별로 효율적인 정보통제를 위한 정책적 시사점을 정리해 보면 다음과 같다. 첫째, 행정부의 통제에 있어서는 현재로선 대통령에 의한 통제 또는 내부의 자체 통제 이외에 다른 수단이 미약하다보니 객관성에 대한 논란이 지속되고 있다. 정파적 이해관계에 얽매지지 않고 전문성과 보안성을 갖춘 독립적인 통제기구를 마련하는 것도 한 방법이 될 것이다. 둘째, 입법부에 의한 통제는 정보위원회 설치를 계기로 제도적인 장치는 마련되었다고 할 수 있으나, 정파 간 당리당략적 입장을 벗어나지 못하거나 정보위원들의 정보부족 및 전문성․보안성 결여 등에 따른 형식적인 운영으로 인해 실질적 통 제기능을 발휘하고 못하고 있는 실정이다. 따라서 정보위원 선임절차를 강화하고 연임 규정을 마련하는 등 보다 효율적 운영을 위한 제도적 보완이 필요하다. 셋째, 사법부의 통제와 관련해서도 정보기관의 통신․전자 업무에 대한 감시를 효과적으로 통제하고 정보활동 과정에서 불미스러운 사건 발생 시에 국가기밀 정보에 대한 적절한 보호 조치를 할 수 있도록 독립적인 위상을 갖는 전담 사법기구 설치를 검토할 필요가 있다. 넷째, 언론에 의한 정보통제 역시 정보기관과 언론 간 불신의 장벽이 높아 정보제공이 이뤄지지 않는 가운데, 알 권리 제약과 무분별한 폭로로 인한 국가안보와 국익 훼손 사례가 많으므로 상호 간에 전문성과 보안성을 지닌 소통 창구를 두어 불필요한 갈등 관계를 해소하려는 노력이 요구된다. 결론적으로 볼 때 남북이 대치하고 있는 우리나라의 특수한 안보상황과 신 안보 위협이 증가하고 있는 전 세계적 정보환경에서 국가정보기관의 역할과 중요성은 아무리 강조해도 지나치지 않는 반면, 국민의 기본권과 정보활동의 투명성․책임 성․정당성 역시 포기할 수 없는 민주적 기본가치이므로 이를 잘 조화시키는 것이 무엇보다 중요하다. 따라서 선진국들의 사례를 교훈으로 삼아 정보기관 본연의 활동을 위축시키지 않으면서 국민의 신뢰 속에서 21세기 선진정보기관으로 거듭날 수 있도록 하는 방향으로의 민주적 통제장치 구축이 시급한 정책적 과제라고 할수 있을 것이다. The purpose of this research is to diagnose present Korean situation and to deduce implications under the circumstances of democracy where controling intelligence agency is necessary in order to protect basic human rights of the people and satisfy their right to know, based on the cases of advanced countries. When it comes to intelligence control in major countries, the necessity of intelligence control was not emphasized because when the intelligence agency like these days has born at the beginning of the Cold War, a perspective of confidentiality of intelligence activities was prioritized in the aspect of national security, but by the 1970s when deviant behaviors of intelligence agency arouse social problems, finally the importance of intelligence control started to be focused and institutional foundation was formed but practical intelligence control based on mutual trust between intelligence agency and control principle. From this perspective, policy implications for effective intelligence control by the field of main principles of intelligence control, the executive, the legislature, the judiciary and the press, are as in the following. First, in controling the executive, currently there is no other means but by the president or internal self control, there is controversy over objectiveness. It could be possible to establish a secure and professional independent control agency free from party relations. Secondly, institutional foundation for control by the legislature is formed by establishing intelligence committee, but the party relations are still concerned and it is not practically but operated with mere formality due to intelligence committee members have lack of information, security and professionality. Therefore, institutional amendment for more efficient operation such as strengthening intelligence committee member and make policy on consecutive terms. Third, it also should be considered to establish an independent legal institution in order to effectively control electronic communication surveillance activities of intelligence agency and to protect national secret intelligence when intelligence process of relevance to the judiciary control. Fourth, intelligence control by the press also harms national security and interest due to indiscriminate disclosures so efforts to build a secure and professional communication channel in between is required. In conclusion, Korea's unique security situation where South and North face each other and international intelligence circumstance where new security threat is increasing, the importance and the role of national intelligence agency cannot be exaggerated. But basic rights of the people and transparency, accountability and legitimacy of intelligence activity are democratic values that cannot be given up so both should be well harmonized. Therefore, by referring the cases of advanced countries, it is an urgent policy task not to constrict original activities of intelligence agency and to set democratic control in order to reform it as 21st century's leading intelligence agency position of public trust.

지능제어 : 정체성 고찰과 주요 기법의 전망

변증남(Z. Zenn Bien),서일홍(Il Hong Suh) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.3

Referring to various definitions, we first examine the identity issue of intelligent control and, have tried to explain the nature and attributes of intelligent control in terms of two categories of positions, that is, the Noumenalist`s position and the Phenomenologist"s position. And then, we give detailed descriptions for (1) FUZZY-based intelligent control and (2) learning control. Finally, as a noticeable new technique of intelligent control for robotic applications, we present (3) Cognitive control.

Real-Time Implementation of Brain Emotional Learning Developed for Digital Signal Processor-Based Interior Permanent Magnet Synchronous Motor Drive Systems

Mohamad-Ali Sadeghi,Ehsan Daryabeigi 전력전자학회 2014 JOURNAL OF POWER ELECTRONICS Vol.14 No.1

In this study, a brain emotional learning-based intelligent controller (BELBIC) is developed for the speed control of an interior permanent magnet synchronous motor (IPMSM). A novel and simple model of the IPMSM drive structure is established with the intelligent control system, which controls motor speed accurately without the use of any conventional PI controllers and is independent of motor parameters. This study is conducted in both real time and simulation with a new control plant for a laboratory 3 ph, 3.8 Nm IPMSM digital signal processor (DSP)-based drive system. This DSP-based drive system is then compared with conventional BELBIC and an optimized conventional PI controller. Results show that the proposed method performs better than the other controllers and exhibits excellent control characteristics, such as fast response, simple implementation, and robustness with respect to disturbances and manufacturing imperfections.

신경망 튜우닝에 의한 유량계통 동력 제어용 다변수 2-자유도 PID의 제어기 설계

김동화 한국조명전기설비학회 1998 조명·전기설비학회논문지 Vol.12 No.1

발전소나 화학플랜트의 급수 및 순환수 계통은 물론 건물의 공조설비 유체계통, 정수 또는 폐수설비에서의 원수유량 및 약품 주입제어 등과 같은 유체계통은 대부분 밸브와 동력 펌프를 이용해 유량 제어를 한다. 따라서 이들 유체계통의 제어방법 및 정밀도에 따라 그 시스템의 성능 및 에너지 절약에 많은 영향을 미치게 된다. 지금까지 이들 계통은 주로 PI제어기를 이용하였으나 이 제어 방법으로는 루프간의 간섭현상으로 정밀하게 유량부하를 제어 할수 없는 문제점이 있다. 본 논문에서는 유체계통 동력부하 설비를 다변수로 구성하여 2-자유 PID제어를 적용하고 신경망을 이용해 튜우닝함으로서 효과적으로 정밀하게 제어 할수 있는 방법을 제시하고 시뮬레이션을 통해 그 방법의 우수성을 입증하였다. 시뮬레이션 결과 설정치를 잘 추종하고 외란에 대해서는 강인성을 갖는 것으로 나타났다. The fluid system such as, the quantity control of raw water, chemicals control in the purification, the waste water system as well as in the feed water or circulation system of the power plant and the ventilation system is controlled with the valve and moter pump. The system's performance and the energy saving of the fluid systems depend on control of method and delicacy. Until, PI controller use in these system but it cannot control delicately because of the coupling in the system loop. In this paper we configure a single flow system to the multi variable system and suggest the application of 2-DOF PID controller and the tuning methods by the neural network to the electrical power of the flow control system. the 2-DOF controller follows to a setpoint has a robustness against the disturbance in the results of simulation. Keywords Title, Intelligent control, Neuro control, Flow control, 2 - DOF control., 2 - DOF control.

Intelligent Robotic Gripper with Adaptive Grasping Force

Shiuh-Jer Huang,Wei-Han Chang,Jui-Yiao Su 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5

The on-off control robot gripper is widely employed in pick-and-place operations in Cartesian space forhandling hard objects between two positions. Without contact force monitoring, it can not be applied in fragile orsoft objects handling. Although, an appropriate grasping force or gripper opening for each target could be searchedby trial-and-error process, it needs expensive force/torque sensor or an accurate gripper position controller. It hastoo expensive and complex control strategy disadvantages for most of industrial applications. In addition, it cannot overcome the target slip problem due to mass uncertainty and dynamic factor. Here, an intelligent gripper isdesigned with embedded distributed control structure for overcoming the uncertainty of object’s mass and soft/hardfeatures. A communication signal is specified to integrate both robot arm and gripper control kernels for executingthe robotic position control and gripper force control functions in sequence. An efficient model-free intelligentfuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip controlstrategy are shown by pictures to verify the dynamic performance of this distributed control system. The positionand force tracking errors are less than 1 mm and 0.1 N, respectively.

MODELLING AND CONTROLLING OF CAR-FOLLOWING BEHAVIOR IN REAL TRAFFIC FLOW USING ARMAX IDENTIFICATION AND MODEL PREDICTIVE CONTROL

S. SALEHINIA,A. Ghaffari,A. KHODAYARI,M. N. KHAJAVI,F. ALIMARDANI 한국자동차공학회 2016 International journal of automotive technology Vol.17 No.3

Nowadays, car following models, as the most popular microscopic traffic flow modeling, are increasingly being used by transportation experts to evaluate new Intelligent Transportation System (ITS) and Advanced Driver Assistance Systems (ADAS) applications. The control of car following is essential due to its safety and its operational efficiency. For this purpose, this paper builds a model of car following behavior based on ARMAX structure from a real traffic data set and presents a Model Predictive Control (MPC) controller. An important advantage of this type of control is its ability to cope with constraints on controls. Since safety and operational efficiency are constraints for car following, therefore we have recruited this type of controller in this study to deal with these constraints. Based on the relative distance and relative acceleration of each instant, the MPC predicts the future behavior of the leader vehicle (LV) and according to this behavior, the acceleration of the follower vehicle (FV) is controlled. The MPC tries to control this acceleration in a way to keep the relative distance at a safe region. To investigate the performance of the designed controller, the result of the system is compared with the behavior of human drivers with similar initial conditions. Also, some other test performances were accomplished to investigate other features such as robustness and the stability of the designed MPC. The simulation results show that the MPC controller has a behavior much safer than that of real drivers and it can provide a pleasant trip for passengers.