Cheol-Joong Kim - Academia.edu (original) (raw)

Uploads

Papers by Cheol-Joong Kim

Journal of Control, Automation and Systems Engineering, 2006

The Transactions of The Korean Institute of Electrical Engineers, 2011

This paper proposes a method to reduce the limit cycle phenomenon that appears in the steady-stat... more This paper proposes a method to reduce the limit cycle phenomenon that appears in the steady-state response of a pendubot system, when it is controlled by a state feedback controller based on the linearized system model. For this, we employed the compensator which estimates the friction based on the LuGre model in the LQR control. The proposed compensation method is validated by experiments for a pendubot system, which shows that the external disturbance as well can be efficiently compensated.

2009 IEEE International Conference on Industrial Technology, 2009

This paper proposes the polynomial fuzzy modeling and tracking control methods for wheeled mobile... more This paper proposes the polynomial fuzzy modeling and tracking control methods for wheeled mobile robots by using sum of squares (SOS) approach, which is developed as SOSTOOL under the Matlab environment. Due to the polynomial fuzzy modeling, we can obtain the linearized tracking error dynamics such that both LMI (linear matrix inequality) and SOS approaches can be applied. Since SOS approach handles more nonlinear system characteristics than LMI, we can obtain the better tracking performance, which is demonstrated in the numerical simulations. The proposed method has advantages in that the control structure can be simplified and it can be further extended to accommodate the input saturation, disturbance compensation, etc., which is well developed for LMI control methods.

The Transactions of The Korean Institute of Electrical Engineers, 2013

ABSTRACT This paper proposes anti-swing control of overhead crane system using sum of squares met... more ABSTRACT This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

… and Systems, 2007. …, 2007

International Conference on Control, Automation and Systems 2007 Oct. 17-20, 2007 in COEX, Seoul,... more International Conference on Control, Automation and Systems 2007 Oct. 17-20, 2007 in COEX, Seoul, Korea ... Unifying Strategies of Obstacle Avoidance and Shooting for Soccer Robot Systems ... Cheol-Joong Kim!, Mun-Soo Park! ,Andon v. Topalov', Dongkyoung Chwa', ...

IEEE Transactions on Fuzzy Systems, 2015

Transactions of the Korean Institute of Electrical Engineers

This paper deals with the trajectory tracking control of wheeled mobile robots with input constra... more This paper deals with the trajectory tracking control of wheeled mobile robots with input constraint. The proposed method converts the trajectory tracking problem to the system stability problem using the control inputs composed of feedforward and feedback terms, and then, by using Taylor series, nonlinear terms in origin system are transformed into polynomial equations. The composed system model can make it possible to obtain the control inputs using numerical tool named as SOSTOOL. From the simulation results, the mobile robot can track the reference trajectory well and can have faster convergence rate of the trajectory errors than the existing nonlinear control method. By using the proposed method, we can easily obtain the control input for nonlinear systems with input constraint.

2009 IEEE International Conference on Industrial Technology, 2009

This paper proposes a novel vector field control method based on nonlinear control algorithm for ... more This paper proposes a novel vector field control method based on nonlinear control algorithm for wheeled-mobile robots. A new vector field control method is proposed for wheeledmobile robots. In the proposed method, the controller is designed to asymptotically stabilize the tracking errors in both position and orientation angle. By the proposed controller, trajectory tracking can be achieved for arbitrary reference trajectory even with large initial tracking errors and bounded disturbances. The performance analysis is performed and also simulations are included to confirm the effectiveness of the proposed scheme.

IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, 2013

This paper proposes the synchronization control method for two different unified chaotic systems ... more This paper proposes the synchronization control method for two different unified chaotic systems with unknown mismatched parameters using sum of squares method. Previously, feedback-linearizing and stabilization terms were used in the controller for the synchronization problem. However, they used just a constant matrix as a stabilization control gain, whose performance is shown to be valid only for a linear model. Thus, we propose the novel control method for the synchronization of the two different unified chaotic systems with unknown mismatched parameters via sum of squares method. We design the stabilization control input which is of the polynomial form by sum of squares method and also the adaptive law for the estimation of the unknown mismatched parameter between the master and slave systems. Since we can use the polynomial control input which is dependent on the system states as the stabilization controller, the proposed method can have better performance than the previous methods. Numerical simulations for both uni-directional and bi-directional chaotic systems show the validity and advantage of the proposed method.

Chaos: An Interdisciplinary Journal of Nonlinear Science, 2011

This paper considers the synchronization problem of the bidirectionally coupled unified chaotic s... more This paper considers the synchronization problem of the bidirectionally coupled unified chaotic system. Many previous works require the assumption that the states of the system are bounded and their range are known. This assumption may not hold for arbitrary controllers, and thus, it is not suitable to make this assumption beforehand. Accordingly, we propose the novel control method for bidirectionally coupled unified chaotic system via sum of squares method without this assumption. Numerical simulations show the validity and advantage of the proposed method. V

Journal of Control, Automation and Systems Engineering, 2006

The Transactions of The Korean Institute of Electrical Engineers, 2011

This paper proposes a method to reduce the limit cycle phenomenon that appears in the steady-stat... more This paper proposes a method to reduce the limit cycle phenomenon that appears in the steady-state response of a pendubot system, when it is controlled by a state feedback controller based on the linearized system model. For this, we employed the compensator which estimates the friction based on the LuGre model in the LQR control. The proposed compensation method is validated by experiments for a pendubot system, which shows that the external disturbance as well can be efficiently compensated.

2009 IEEE International Conference on Industrial Technology, 2009

This paper proposes the polynomial fuzzy modeling and tracking control methods for wheeled mobile... more This paper proposes the polynomial fuzzy modeling and tracking control methods for wheeled mobile robots by using sum of squares (SOS) approach, which is developed as SOSTOOL under the Matlab environment. Due to the polynomial fuzzy modeling, we can obtain the linearized tracking error dynamics such that both LMI (linear matrix inequality) and SOS approaches can be applied. Since SOS approach handles more nonlinear system characteristics than LMI, we can obtain the better tracking performance, which is demonstrated in the numerical simulations. The proposed method has advantages in that the control structure can be simplified and it can be further extended to accommodate the input saturation, disturbance compensation, etc., which is well developed for LMI control methods.

The Transactions of The Korean Institute of Electrical Engineers, 2013

ABSTRACT This paper proposes anti-swing control of overhead crane system using sum of squares met... more ABSTRACT This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

… and Systems, 2007. …, 2007

International Conference on Control, Automation and Systems 2007 Oct. 17-20, 2007 in COEX, Seoul,... more International Conference on Control, Automation and Systems 2007 Oct. 17-20, 2007 in COEX, Seoul, Korea ... Unifying Strategies of Obstacle Avoidance and Shooting for Soccer Robot Systems ... Cheol-Joong Kim!, Mun-Soo Park! ,Andon v. Topalov', Dongkyoung Chwa', ...

IEEE Transactions on Fuzzy Systems, 2015

Transactions of the Korean Institute of Electrical Engineers

This paper deals with the trajectory tracking control of wheeled mobile robots with input constra... more This paper deals with the trajectory tracking control of wheeled mobile robots with input constraint. The proposed method converts the trajectory tracking problem to the system stability problem using the control inputs composed of feedforward and feedback terms, and then, by using Taylor series, nonlinear terms in origin system are transformed into polynomial equations. The composed system model can make it possible to obtain the control inputs using numerical tool named as SOSTOOL. From the simulation results, the mobile robot can track the reference trajectory well and can have faster convergence rate of the trajectory errors than the existing nonlinear control method. By using the proposed method, we can easily obtain the control input for nonlinear systems with input constraint.

2009 IEEE International Conference on Industrial Technology, 2009

This paper proposes a novel vector field control method based on nonlinear control algorithm for ... more This paper proposes a novel vector field control method based on nonlinear control algorithm for wheeled-mobile robots. A new vector field control method is proposed for wheeledmobile robots. In the proposed method, the controller is designed to asymptotically stabilize the tracking errors in both position and orientation angle. By the proposed controller, trajectory tracking can be achieved for arbitrary reference trajectory even with large initial tracking errors and bounded disturbances. The performance analysis is performed and also simulations are included to confirm the effectiveness of the proposed scheme.

IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences, 2013

This paper proposes the synchronization control method for two different unified chaotic systems ... more This paper proposes the synchronization control method for two different unified chaotic systems with unknown mismatched parameters using sum of squares method. Previously, feedback-linearizing and stabilization terms were used in the controller for the synchronization problem. However, they used just a constant matrix as a stabilization control gain, whose performance is shown to be valid only for a linear model. Thus, we propose the novel control method for the synchronization of the two different unified chaotic systems with unknown mismatched parameters via sum of squares method. We design the stabilization control input which is of the polynomial form by sum of squares method and also the adaptive law for the estimation of the unknown mismatched parameter between the master and slave systems. Since we can use the polynomial control input which is dependent on the system states as the stabilization controller, the proposed method can have better performance than the previous methods. Numerical simulations for both uni-directional and bi-directional chaotic systems show the validity and advantage of the proposed method.

Chaos: An Interdisciplinary Journal of Nonlinear Science, 2011

This paper considers the synchronization problem of the bidirectionally coupled unified chaotic s... more This paper considers the synchronization problem of the bidirectionally coupled unified chaotic system. Many previous works require the assumption that the states of the system are bounded and their range are known. This assumption may not hold for arbitrary controllers, and thus, it is not suitable to make this assumption beforehand. Accordingly, we propose the novel control method for bidirectionally coupled unified chaotic system via sum of squares method without this assumption. Numerical simulations show the validity and advantage of the proposed method. V