• 제어로봇시스템학회논문지
• /
• 제20권1호
• /
• pp.42-47
• /
• 2014

This paper investigates an adaptive approximation design problem for the tracking control of output-constrained non-affine pure-feedback systems. To satisfy the desired performance without constraint violation, we employ a barrier Lyapunov function which grows to infinity whenever its argument approaches some limits. The main difficulty in dealing with pure-feedback systems considering output constraints is that the system has a non-affine appearance of the constrained variable to be used as a virtual control. To overcome this difficulty, the implicit function theorem and mean value theorem are exploited to assert the existence of the desired virtual and actual controls. The function approximation technique based on adaptive neural networks is used to estimate the desired control inputs. It is shown that all signals in the closed-loop system are uniformly ultimately bounded.

• Journal of Electrical Engineering and Technology
• /
• 제3권2호
• /
• pp.207-212
• /
• 2008

This paper presents a robust and computationally efficient optimal design algorithm for electromagnetic devices by combining an adaptive response surface approximation of the objective function and($1+{\lambda}$) evolution strategy. In the adaptive response surface approximation, the design space is successively reduced with the iteration, and Pareto-optimal sampling points are generated by using Latin hypercube design with the Max Distance and Min Distance criteria. The proposed algorithm is applied to an analytic example and TEAM problem 22, and its robustness and computational efficiency are investigated.

• 한국전산구조공학회:학술대회논문집
• /
• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
• /
• pp.275-283
• /
• 2004

The paper describes the integrated design system using MDO and approximation technique. In MDO related research, final target is an integrated and automated MDO framework systems. However, in order to construct the integrated design system, the prerequisite condition is how much save computational cost because of iterative process in optimization design and lots of data information in CAD/CAE integration. Therefore, this paper presents that an efficient approximation method, Adaptive Approximation, is a competent strategy via MDO framework systems.

• 한국CDE학회논문집
• /
• 제11권1호
• /
• pp.1-10
• /
• 2006

This paper addresses B-spline curve approximation of a set of ordered points to a specified toterance. The important issue in this problem is to reduce the number of control points while keeping the desired accuracy in the resulting B-spline curve. In this paper we propose a new method for error-bounded B-spline curve approximation based on adaptive selection of dominant points. The method first selects from the given points initial dominant points that govern the overall shape of the point set. It then computes a knot vector using the dominant points and performs B-spline curve fitting to all the given points. If the fitted B-spline curve cannot approximate the points within the tolerance, the method selects more points as dominant points and repeats the curve fitting process. The knots are determined in each step by averaging the parameters of the dominant points. The resulting curve is a piecewise B-spline curve of order (degree+1) p with $C^{(p-2)}$ continuity at each knot. The shape index of a point set is introduced to facilitate the dominant point selection during the iterative curve fitting process. Compared with previous methods for error-bounded B-spline curve approximation, the proposed method requires much less control points to approximate the given point set with the desired shape fidelity. Some experimental results demonstrate its usefulness and quality.

• Journal of electromagnetic engineering and science
• /
• 제5권2호
• /
• pp.49-60
• /
• 2005

In this paper, an efficient performance enhancement scheme for an adaptive antenna array under the flat and the frequency-selective Rayleigh fadings is proposed. The proposed signal enhancement scheme is the modified linear signal estimator which combines the rank N approximation by reducing noise eigenvalues(RANE) and Toeplitz matrix approximation(TMA) methods into the linear signal estimator. The proposed performance enhancement scheme is performed by not only reducing the noise component from the signal-plus-noise subspace using RANE but also having the theoretical property of noise-free signal using TMA. Consequently, the key idea of the proposed performance enhancement scheme is to greatly enhance the performance of an adaptive antenna array by removing all undesired noise effects from the post-correlation received signal. The proposed performance enhancement scheme applies at the Wiener maximal ratio combining(MRC) method which has been widely used as the conventional adaptive antenna array. It is shown through several simulation results that the performance of an adaptive antenna array using the proposed signal enhancement scheme is much superior to that of a system using the conventional method under several environments, i.e., a flat Rayleigh fading, a fast frequency-selective Rayleigh fading, a perfect/imperfect power control, a single cell, and a multicell.

• 한국통신학회논문지
• /
• 제32권4C호
• /
• pp.433-439
• /
• 2007

Applebaum 타입의 beam forming 알고리듬을 사용하는 어댑티브 어레이에서 간섭신호가 원하는 신호와 매우 근접해 있을 때의 출력 신호 대 간섭 잡음비의 간단한 근사식을 도출하였다. 이 근사식은 어레이 크기, 원하는 신호와 간섭신호의 입사각 차이의 함수로 표현된다. 이 근사식에 의해 정해진 성능열화를 유발하는 간섭신호의 입사각 위치를 결정하는 식을 도출하였다. 제안된 근사식은 원하는 신호와 간섭신호가 8 도 이내의 입사각 차이를 유지할 때 컴퓨터로 계산한 정확한 신호 대 간섭 잡음비의 값과 1 dB 이내의 오차를 유지함을 보였다. 또한 어레이 엘리먼트의 숫자가 늘어남에 따라 간섭신호가 원하는 신호에 근접할 수 있는 정도도 더 늘어남을 보였다.

• 한국지능시스템학회논문지
• /
• 제22권2호
• /
• pp.174-180
• /
• 2012

본 논문은 미지의 시간 지연을 갖는 비선형 상호 연결 시스템을 위한 분산 적응 출력 궤환 제어기를 제안한다. 미지의 시간 지연을 갖는 상호 연결 부분은 부시스템들의 모든 상태 변수를 포함한다. 적당한 르아브노브-크라소브스키 함수와 함수 예측 기법을 사용하여 시간 지연 함수들을 보상한다. 각각의 부시스템을 위한 시간에 독립적인 지역 제어기를 설계하기 위해 관측 동적 표면 제어 기법을 이용한다. 제어된 페루프 시스템의 모든 신호들이 준 전역적이고 균일하게 유계됨과 제어 오차가 원점 주위의 조절 가능한 주변으로 수렴함을 증명한다.

• 융합신호처리학회논문지
• /
• 제23권4호
• /
• pp.185-193
• /
• 2022

본 논문은 쿼드로터 무인기의 위치 및 자세 추적 제어 성능을 향상시키기 위해 RBFNN 방식을 이용한 적응형 슬라이딩 모드 제어를 제안한다. RBFNN은 UAV 동적 모델에서 비선형 함수의 근사화에 활용되며, RBFNN의 가중치는 슬라이딩 표면에 부딪혀 미끄러지는 상태를 보장하기 위해 Lyapunov 안정성 분석의 적응 법칙에 따라 온라인으로 조정된다. 네트워크 근사 오류를 보상하고 기존 채터링 문제를 제거하기 위해 슬라이딩 모드 제어 항은 적응 법칙에 의해 조정되어 시스템의 강력한 성능을 향상시킨다. 제안된 제어 방법의 시뮬레이션 결과는 비선형 쿼드로터 무인 항공기에 적용된 제안된 제어기의 효율성을 확인하였다. 그 결과, 제안된 제어 시스템이 만족스러운 제어 성능과 견고성을 달성함을 알 수 있었다.

• 제어로봇시스템학회논문지
• /
• 제15권4호
• /
• pp.413-419
• /
• 2009

A decentralized adaptive control method is proposed for large-scale systems with unknown time-delayed nonlinear interconnections unmatched in control inputs. It is assumed that the time-delayed interaction terms are bounded by unknown nonlinear bounding functions. The nonlinear bounding functions and uncertain nonlinear functions of large-scale systems are compensated by the function approximation technique using neural networks. The dynamic surface control method is extended to design the proposed memoryless local controller for each subsystem of uncertain nonlinear large-scale time delay systems. Therefore, although the interconnected systems consist of a large number of subsystems, the proposed controller can be designed simply. We prove that all the signals in the total closed-loop system are semiglobally uniformly bounded and the control errors converge to an adjustable neighborhood of the origin. Finally, an example is given to demonstrate the effectiveness and applicability of the proposed scheme.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2008년도 제39회 하계학술대회
• /
• pp.1505-1506
• /
• 2008

In this paper, a robust adaptive backstepping control is developed for efficiency optimization of induction motors with uncertainties. The proposed control scheme consists of efficiency flux control(EFC) using a sliding mode adaptive flux observer and robust speed control(RSC) using a function approximation for mechanical uncertainties. In EFC, it is important to find the flux reference to minimize power losses of induction motors. Therefore, we proposed the optimal flux reference using the electrical power loss function. The sliding mode flux observer is designed to estimate rotor fluxes and variation of inverse rotor time constant. In RSC, the unknown function approximation technique employs nonlinear disturbance observer(NDO) using fuzzy neural networks(FNNs). The proposed controller guarantees both speed tracking and flux tracking. Simulation results are presented to illustrate the effectiveness of the approaches proposed.