• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.2
• /
• pp.98-106
• /
• 2013

This paper proposes fault tolerant control laws using sliding mode control and adaptation laws for a satellite with reaction wheel faults. Considering system parameter errors and faults uncertainties in the dynamics of satellite, the control laws were designed. It was assumed that only reaction wheel failures occurred as faults. The reaction wheel faults were reflected in the multiply form. Because the proposed control laws satisfy the Lyapunov stability theorem, the stability is guaranteed. Through computer simulation, it was assured that the proposed adaptive sliding mode controller has a better performance than the existing sliding mode controller under unstable angular rates.

• Journal of Institute of Control, Robotics and Systems
• /
• v.2 no.4
• /
• pp.287-296
• /
• 1996

본 논문에서는 퍼지추정기와 슬라이딩 모드제어이론이 고려되었다. 비선형시스템에 대한 슬라이딩 모드 제어기 설계 시에 그 시스템의 비선형함수를 추정하기 위하여 퍼지논리시스템이 사용되는 두가지의 적응처지슬라이딩 모드제어방식을 제안한다. 첫번째 방식에서는 비선형시스템, x/sup (n)/=f(x under bar, t) + b(x under bar, t)u 의 알지 못하는 함수 f를 추정하기 위하여 하나의 퍼지논리시스템이 사용되어진다. 두번째 방식에서는 비선형시스템의 f와 b에 대한 추정기로서의 두개의 퍼지논리시스템이 각각 사용되어진다. 각각의 방식에 대하여 제어시스템의 안정도를 보장하도록 하는 적응법칙을 설계하며 퍼지추정기와 비선형함수와의 추정오차를 줄이기 위해 각각에 대한 강인한 제어법칙을 제안한다. 제안된 네 가지의 제어법칙에 대한 안정성을 증명하고 컴퓨터시뮬레이션에서 역진자시스템에 적용하여 그에 대한 타당성과 각각의 비교를 보인다.

• Journal of the Institute of Convergence Signal Processing
• /
• v.6 no.2
• /
• pp.82-88
• /
• 2005

A compensation scheme for a class of linearly parameterized systems is presented. The compensator consists of a typical linearizing control and an adaptive observer with integration type update law, which is based on Speed Gradient (SG) algorithm.. Instead of the intermediate functions of the compensation schemes suggested by other researchers, the proposed compensator is designed with some design functions which guarantee the growth, convexity, attainability, and pseudo gradient conditions in the update law. The scheme achieves the asymptotic stability of the tracking error and the boundedness of the estimation errors. A numerical example is given to demonstrate the validity of the proposed design.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.19 no.7
• /
• pp.1414-1420
• /
• 1994

In this paper the existence of chaotic signal is probed in adaptive dead beat control law for nonlinear dynamic system. These chaotic signal makes the system unstable and difficult to control, but it broaden the range of application, confirms the robustness of system and gives a lot of information. Considering of low correlation between chaotic signals, robust adaptive control method which uses for parameter estimation is proposed. With this algorithm the parameters converges stable rapidly. Finally the superiority of it is proved by computer simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.42 no.10
• /
• pp.842-850
• /
• 2014

This paper presents a trajectory tracking controller for rotorcraft UAVs to improve the tracking performances in the presence of various uncertainties. The proposed tracking method consists of a velocity guidance law based on the relative distance and L1 adaptive augmentation loop for tracking the velocity commands. In the proposed structure, the desired velocity generated by the guidance law is the reference value of the adaptive controller for accurate path tracking. In the guidance law, the desired acceleration is generated based on the relative distance and its derivatives, and then the velocity command of the inner control loop is calculated by integrating the accelerations. $L_1$ augmentation loop supplements the linear controller to guarantee the flight performances such as a tracking accuracy in the presence of the uncertainties. The proposed controller was validated in actual flight tests to successfully demonstrate its capability using a quadrotor UAV.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.38 no.12
• /
• pp.1170-1176
• /
• 2010

This study addresses adaptive control of UAVs(Unmanned Aerial Vehicles) pitch-axis maneuver. The MRAC(Model Referenced Adaptive Control) approach is employed to accommodate uncertainties which are introduced by feedback linearization of pitch attitude control by elevator input. The model uncertainty is handled by adaptation laws which update model parameters while the UAV is under control by the feedback control law. Steady-state pitch attitude achieved by the stabilizing control law is derived to provide insight on the closed-loop behavior of the controlled system. The proposed idea is free of linearization, gain-scheduling procedures, so that one can design high maneuverability of UAVs for pitching motion in the presence of significant model uncertainty.

• Transactions of The Korea Fluid Power Systems Society
• /
• v.4 no.1
• /
• pp.13-17
• /
• 2007

The brake gain adaptive wheel slip controller for a vehicle is designed in this paper. The brake gain from braking pressure to braking torque defined by friction coefficient, friction area and effective friction radius is estimated by the adaptive law based on the wheel slip dynamics. And the wheel slip controller is designed based on the estimated brake gain. The robustness of the designed controller is analyzed using Lyapunov function and the convergence of brake gain is verified. Proposed wheel slip controller is verified via CarSim simulation with two kinds of desired wheel slip ratio.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2000.05a
• /
• pp.150-153
• /
• 2000

본 논문에서는 퍼지규칙의 수가 적고, 결론부가 선형식으로 표현되는 TSK 퍼지시스템을 이용한다. 본 논문에서 제안되는 적응제어 방법은 규범모델 적응제어 기법을 응용한 것으로 Lyapunov함수를 이용하여 안정성문제를 해결하면서 동시에 최적의 적응법칙을 유도 할 수 있도록 설계되었다. 그리고 역진자 시스템에 대해서 시뮬레이션을 통해 제안된 적응 퍼지제어기의 설계 방법이 유효함을 보인다.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.7
• /
• pp.499-507
• /
• 2019

Despite the well-known mathematical model of fixed-wing aircraft, there are various studies to meet desired performances by considering the modeling errors in the extended flight envelope. This paper proposes a new adaptation mechanism of model-reference adaptive control, which applies the Levenberg-Marquardt algorithm to the pitch attitude control of fixed-wing UAV. In addition, reference model in the adaptation law is set by referring to the dynamic properties of the plant model. The performance of the proposed adaptive control law is verified through simulations and flight tests.

• Proceedings of the Acoustical Society of Korea Conference
• /
• spring
• /
• pp.87-90
• /
• 2000

문-음성 합성기의 자연감을 높이기 위해 주로 자연음에 존재하는 운률 법칙을 정확히 구현해 주어야 한다. 일반적으로 언어학적 정보를 이용하거나 자연음으로부터 추출한 운률 정보를 추출한 운률 법칙을 합성에 이용하고 있다. 이와 같이 구한 운률 법칙이 자연음에 존재하는 모든 운률 법칙을 포함할 수 있으면, 자연스러운 합성음을 들을 수 있겠으나, 실질적으로는 모든 법칙을 구현한다는 것은 어려운 실정이고, 자연음으로부터 추출한 운률 법칙이 잘못 구현되는 경우 합성음의 자연성이 떨어지는 것을 피할 수 없을 것이다. 이런 점을 고려하여 우리는 자연음에 내재하는 운율 법칙을 훈련을 통해 학습할 수 있는 인공 신경망을 제안하였다 운률의 세 가지 요소는 피치, 지속시간, 크기 변화가 있는데, 인공 신경망은 문장이 입력되면, 각 해당 음소의 지속시간에 따른 피치 변화와 크기 변화를 학습할 수 있도록 설계하였다. 신경망을 훈련시키기 위해 고립 단어군과 음소균형 문장군을 화자로 하여금 발성하게 하여, 녹음하고, 분석하여 운률 데이터베이스를 구축하였다. 자연음의 각 음소에 대해 지속시간과 피치변화 그리고 크기 변화를 구하여 곡선 적응 방법을 이용하여 각 변화 곡선에 대한 계수를 구해 데이터베이스를 구축한다. 이렇게 구축한 데이터베이스를 이용해 인공 신경망을 훈련시켜 평가한 결과 훈련용 데이터를 계속 확장하면 좀 더 자연스러운 운률을 발생시킬 수 있음을 관찰하였다.