• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.756-762
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• 2009

As nonlinear friction, stick-slip friction in hydraulic actuators are a problem for accuracy and repeatability. Therefore friction compensation has been approached through various control algorithms. A Adaptive discrete time sliding mode tracking controller has been applied in order to compensate the nonlinear friction characteristics in a hydraulic Actuator. Based on the diophantine equation, a new discrete time sliding function is defined and utilized for the control law which includes a friction and modeling error. Robustness is increased by using both a projection algorithm and a sliding function-based nonlinear feedforward. From the results of simulation and experiment good tracking performance is achieved.

• Proceedings of the KIEE Conference
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• 2004.11b
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• pp.237-239
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• 2004

이 논문에서는 Nonlinear Observer Backstepping 출력 궤환 제어에 의한 비선형 전력계통안정화장치(NPSS)를 개발하였다. 이 기법은 출력단자의 측정만으로 매우 강한 전력계통의 고유한 특징인 강한 비선형을 처리할 수 있는 바람직한 제어기를 구성할 수가 있다. 첫 번째로 비선형 관측기를 통하여 측정할 수 없는 부분의 상태들을 대신할 수 있는 출력 궤환 관측기를 구성하는 것이다. 두 번째로 이렇게 구성된 관측기에 매번 상태를 반영할 수 있는 backstepping 제어기를 적응하는 것이다. 시뮬레이션을 통한 제안된 제어기의 효과는 비 제어시, 기존의 Lead-Lag PSS, 그리고 제안된 Nonlinear Observer backstepping 출력 궤환 제어에 기준한 비선형 PSS를 비교 검토하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.4
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• pp.24-33
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• 2004

In this paper, the helicopter flight control system using online adaptive neural networks which have the universal function approximation property is considered. It is not compensation for modeling errors but approximation two functions required for feedback linearization control action from input/output of the system. To guarantee the tracking performance and the stability of the closed loop system replaced two nonlinear functions by two neural networks, weight update laws are provided by Lyapunov function and the simulation results in low speed flight mode verified the performance of the control system with the neural networks.

• Journal of Broadcast Engineering
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• v.2 no.2
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• pp.194-205
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• 1997

In video compression standards such as MPEG and H.263. rate control is one of the key components for good coding performance. This paper presents a simple adaptive rate control scheme using a piecewise linear approximation model. While conventional buffer control approach is performed by adjusting the quantization parameter linearly according to the buffer fullness. the proposed approach uses a piecewise linear approximation model derived from logarithmic relation between the quantization parameter and bitrate in data compression. In addition. a forward analyzer performed in the spatial domain is used to improve image quality. Simulation results demonstrate that the proposed method provides better performance than the conventional one and reduces the fluctuation of the PSNR per frame while maintaining the quality of the reconstructed frames at a relatively stable level.

• Journal of IKEEE
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• v.9 no.1 s.16
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• pp.72-78
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• 2005

This paper describes the design of a robust output-feedback controller for a single-input single-output nonlinear dynamical system with a full relative degree. While all the previous research works on the output-feedback control are based on dynamic observers, a new state estimator which uses the past values of the measurable system output is proposed. We name it backward-difference state estimator since the derivatives of the output are estimated simply by backward difference of the present and past values of the output. The disturbance generated due to the error between the estimated and real state variables is compensated using an additional robustifying control law whose gain is tuned adaptively. Overall control system guarantees that the tracking error is asymptotically convergent and that all signals involved are uniformly bounded. Theoretical results are illustrated through a simulation example of inverted pendulum.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.2
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• pp.1-7
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• 2000

In this paper, an adaptive control law for nonlinear systems represented by input-output models are proposed under the assumption that unknown system parameters are in a known compact and convex set. Contrary to the previous results, the compact and convex set is not restricted to a ball whose center is at the origin or convex hypercube. It is proven that the proposed parameter update rule produces a sequence of parameters which reside in the set and guarantees that the position, velocity, and acceleration error converges to zero as time goes to infinity. This theoretical result was justified through simulations.

• Journal of KIISE:Software and Applications
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• v.27 no.9
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• pp.952-960
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• 2000

본 논문에서는 퍼지 자동회귀 이동평균 (Fuzzy Auto-Regressive Moving Average, FARMA)제어기를 전력계통의 비선형 2기 5모선 (Two Machine - Five Bus)모형의 주파수 안정화에 적용한 결과를 제시한다 퍼지 자동회귀 이동 평균 제어기는 기존의 전문가에 의존하였던 퍼지제어 규칙을 실시간으로 형성해 나가는 구조이다. 복잡성, 비선형성 등 전력계통의 일반적인 특징들을 기술하고, 그 특징을 표현할 수 있는 비선형 2기5모선 모형을 제시한다. 제시된 모형을 바탕으로 기존 제어 방식과의 성능 비교를 실시하였고, 이를 통하여 FARMA 제어기의 우수성을 확인하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.5
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• pp.527-532
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• 2005

In this paper, we proposed an adaptive fuzzy sliding control for unknown nonlinear systems using estimation of bounds for approximation errors. Unknown nonlinearity of a system is approximated by the fuzzy logic system with a set of IF-THEN rules whose consequence parameters are adjusted on-line according to adaptive algorithms for the purpose of controlling the output of the nonlinear system to track a desired output. Also, using assumption that the approximation errors satisfy certain bounding conditions, we proposed the estimation algorithms of approximation errors by Lyapunov synthesis methods. The overall control system guarantees that the tracking error asymptotically converges to zero and that all signals involved in controller are uniformly bounded. The good performance of the proposed adaptive fuzzy sliding mode controller is verified through computer simulations on an inverted pendulum system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.788-791
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• 2006

Fuzzy theory has been used effectively to control the nonlinear system since Mamdani successively adopted fuzzy theory in the steam-engine control problem in 1973. Truckbacker-upper control problem originally proposed by Nguyen and Widrow become a standard highly nonlinear control problem. In this paper, we designed adaptive fuzzy membership functions for speed control as well as steering control. In other words, an adaptive fuzzy control system for truck backer-upper problem useful for practical adaptation is proposed. Experimental results by simulations prove the effectiveness of the proposed system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.05a
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• pp.420-424
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• 2006

본 논문에서는 외란을 갖는 불확실한 비선형 시스템을 제어하기 위하여 $H^{\infty}$ 제어를 이용한 강인 간접 적응 퍼지 관측기를 설계하여 상태변수를 관측하고 외란관측기를 설계하여 시스템의 외란을 제거하는 강인한 제어기를 구성한다. 제안된 외란관측기는 시스템과 외란의 대역폭보다 큰 궤환 이득을 가짐으로써 기존의 역플랜트 모델 또는 퍼지 기반의 외란관측기 보다 간단한 구조를 가지고 외란과 시스템 모델링 오차의 합을 관측해 낼 수 있다. 본 논문에서는 도립진자 시스템의 모의실험을 통하여 관측기, 외란관측기와 제어기의 성능을 평가한다.