• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.1
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• pp.60-68
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• 1999

This paper deals with the tracking control problem of industrial robotic manipulators with unknown or changing dynamics. The proposed method makes use of multiple moodels and switching mechanism by fuzzy inference of the manipulator in an indirect adaptive controller architecture. The models used for the indmtification of the manipliator are identical, except for the initial estimates of the unknown inertial pararmeters of the manipulator and its load. The torque input that is applied to the joint actuators is determined at every instant by the identification model that best approximates the robot dynamics. Simulation results are also included to dermnstrate the improvement in the tracking perfermance when the proposed method is used.s used.

• Journal of the Korean Institute of Telematics and Electronics
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• v.20 no.5
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• pp.31-36
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• 1983

The indirect M.R.A.C. method using the W.L.S. algorithm is applied to the speed control of a D.C. motor on the assumption that the motor is the 1-st order, completely controllable and observable, non-minimum phase plant. By the help of M6809 microprocessor system the experiments are performed with respect to the sinusoidal and square reference input. The results show that the speed of a D.C. motor is well controlled by the indirect M.R.A.C. method using W.L.S, algorithm, and that the W.L.S. algorithm is quite suitable to the time-varying plant.

• Journal of Advanced Navigation Technology
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• v.24 no.2
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• pp.101-106
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• 2020

In order to smoothly control the speed of the induction motor, it is necessary to obtain the required rotor speed information. In order to obtain the speed information, it must be obtained using a sensor, but it can also be obtained using an appropriate algorithm without using a sensor. In order to obtain speed information, a system was designed using a model reference adaptive system (MARS). Indirect vector control, one of the speed control methods of induction motors, was calculated from the motor current and rotor parameter values. The method of obtaining the position information of the magnetic flux by combining the slip frequency with the rotor speed was used. It is possible to simply perform instantaneous current control in a wide speed range without actual magnetic flux information, and has the advantage that the structure of the controller is simple. Therefore, in this paper, the control system was constructed based on the indirect vector control method, and the speed control system of the induction motor was developed by estimating the required rotor speed information as an intelligent algorithm developed without using it as a sensor.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.437-440
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• 1998

In this paper, the design method of fuzzy neural network(FNN) controller using indirect adaptive control technique is presented for controlling chaotic nonlinear systems. Firstly, the fuzzy model identified with a FNN in off-line process. Secondly, the trained fuzzy model tunes adaptively the control rules of the FNN controller in on-line process. In order to evaluate the proposed control method, Indirect adaptive control method is applied to the representative continuous-time chaotic nonlinear systems, that is, the Duffing system and the Lorenz system. Simulations are done to verify the effectivencess of controller.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.11
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• pp.922-933
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• 1989

This paper deals with an indirect pole placement adaptive controller design problem for discrete-time plants with arbitrary zeros in the presence of unmodeled dynamics and/or disturbances. The plant and controller parameters are estimated by separate estimators. The nonlinear feedback is introduced so that the estimated plant has as high degree of controllability as possible. The nonlinear feedback will be used in a finite time, after which the control algorithm becomes a standard pole placement one.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.318-322
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• 1996

In this study, a controller design method is proposed for controlling the discrete-time chaotic systems efficiently. Our proposed control method is based on Generalized Predictive Control and uses NARMAX models as a controlled model. In order to evaluate the performance of our proposed controller design method, a proposed controller is applied to Henon system which is a discrete-time chaotic system, and then the control performance of the proposed controller are compared with those of the previous model-based controllers through computer simulations. Through simulations, it is shown that the control performance of the proposed controller is superior to that of the conventional model-based controller.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.478-482
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for robotic manipulators to achieve trajectorytracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adapation laws are derived from the improved second stability analysis based on the indirect adaptive control theory.l The proposed control scheme is simple in structure, fast in computation, an suitable for implementation of real-time control. Moreover, this scheme does not requre an accurate dynamic modeling, nor values of manipulator paramenters and payload Performance of the adaptive controller is illustrated by exeperimental results for a SCARA robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.173-179
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• 2002

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.43-46
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• 1990

A general scheme for a discrete adaptive observer having exponetial weighting properties is presented for a single-input single-output linear system. In this scheme, all the past measurement data are weighted esponetially both with the weighting factor and the stable matrix F. This observer is then implemented in the design of an indirect adaptive pole placement contoller. To increase nemerical stability in getting the controller parameter, a recusive algorithm is introduced. It is shown that the overall control scheme is globally stable with the persistent excition

• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.4
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• pp.310-317
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• 2007

In this paper, the system equation for the balanced two-phase induction motor is derived and the characteristics for speed control is also analyzed in the region of constant torque and constant power. The modified vector control theory is applied to two-phase motor drive system. The speed of two-phase motor drive can be controlled precisely by the modified indirect vector control theory. The modified vector control theory is simpler comparing to the conventional vector control because of the simpler axis transformation. The computer simulations and the experimental results presented to confirm the vector control for two-phase inverter fed two phase induction motor system.