• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.958-961
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• 2001

Control of Industrial processes is very difficult due to nonlinear dynamics, effect of disturbances and modeling errors. M.Morari proposed Internal Model Control(IMC) system that can be effectively applied to the systems with model uncertainties and time delays. The advantage of IMC is their robustness with respect to a model mismatch and disturbances. But it is difficult to apply for nonlinear systems. ANFIS(Adaptive Neuro-Fuzzy Inference System) which contains multiple linear models as consequent part is used to model nonlinear systems. Generally, the linear parameters in ANFIS can be effectively utilized to control a nonlinear systems. In this paper, we propose new ANFIS-based IMC controller for nonlinear systems. Numerical simulation results show that the proposed control scheme has good performances.

• 대한전기학회논문지
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• 제35권11호
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• pp.529-534
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• 1986

In recent year, there have been much techniques for designing globally stable adaptive control systems when the unknown plant is minimum phase. This paper presents a new seheme for indirect adaptive control structure for nonminimum phase plant of which parameters are estimated from the least-square algorithm. Its effectiveness has been demonstrated by computer simulation carried out for a second-order plant.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.689-693
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• 2000

In this paper, we proposed a decoupled adaptive fuzzy sliding-mode control scheme in designing the SMC of a class of fourth-order nonlinear systems. These systems are decoupled the whole system into two second-order systems such that each subsystem has a separate control target expressed in terms of a sliding surface. Then, information from the secondary target conditions the main target, which, in turn, generates a control action to make both subsystem move toward their sliding surface. respectively, and Two sets of fuzzy rule bases are utilized to represent the equivalent control input with unknown system functions of the main target, The membership functions of the THEN-part. which is used to construct a suitable equivalent control of SMC. are changed according to adaptive law, Under this design scheme, we not only maintain the distribution of membership functions over state space but also reduce considerably computing time, we apply the decoupled adaptive sliding-mode control to control a nonlinear inverted pendulum system and confirms the validity of the proposed approach.

• International Journal of Control, Automation, and Systems
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• 제2권3호
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• pp.374-383
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• 2004

This paper presents a neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV) using adaptive backstepping method. In general, the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori because of variations of these coefficients with different operating conditions. In this paper, the smooth unknown dynamics of a vehicle is approximated by a neural network, and the remaining unstructured uncertainties, such as disturbances and unmodeled dynamics, are assumed to be unbounded, although they still satisfy certain growth conditions characterized by 'bounding functions' composed of known functions multiplied by unknown constants. Under certain relaxed assumptions pertaining to the control gain functions, the proposed control scheme can guarantee that all the signals in the closed-loop system satisfy to be uniformly ultimately bounded (UUB). Simulation studies are included to illustrate the effectiveness of the proposed control scheme, and some practical features of the control laws are also discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.753-758
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• 1987

The purpose of ocean thermal energy conversion (OTEC) plant control is to provide stable power efficiently by appropriately regulating the seawater flow rates and the working fluid flow rate under conditions of continually changing seawater temperatures. This paper describes digital control of working fluid flow rate based on an adaptive control theory for the "Imari 2" OTEC plant at Saga University. Provisions have been made for linkage between the software of the adaptive control theory and the hardware of the OTEC plant. In implementing the working fluid flow rate control, if persistency of excitation conditions are lost, the algorithm of identification often exhibits bursting phenomena. To avoid this difficulty, the stopping-and-starting rule for identification was derived and was used for the working fluid flow rate control. Satisfactory control performance was then obtained by using this digital control system.ol system.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
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• pp.128-133
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• 2001

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for 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 for 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.578-581
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• 2001

In this paper, the development of a new group controller for high-speed elevator is carried out utilizing approach of an adaptive dual fuzzy logic. A goals of control are the minimization of waiting time, mean-waiting time and long-waiting time in a building. when a new hall call is generated, adaptive dual fuzzy controller evaluate traffic pattern and change appropriately the membership function of fuzzy rule base. Control for co-operation among elevators in group control algorithm are essential, and the most critical control function in group controller is a effective and proper hall call assignment of elevators. Thy group elevator system utilizing adaptive dual fuzzy control reveals a great deal of improvement on its performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.157-160
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• 2000

In this paper, the development of a new group controller for high-speed elevator is carried out utilizing approach of an adaptive dual fuzzy logic. A goals of control are the minimization of waiting time, mean-waiting time and long-waiting time in a high building, when a new hall call is generated, adaptive dual fuzzy controller evaluate traffic pattern and change appropriately the membership function of fuzzy rule, base. Control for co-operation among elevators in group control algorithm are essential , and the most critical control function in group controller is a effective and proper hall call assignment of elevators. The group elevator system utilizing adaptive dual fuzzy control reveals a great deal of improvement on its performance.

• 소음진동
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• 제8권5호
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• pp.832-840
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• 1998

Experimental studies on the adaptive vibration control of composite beams have been performed using a piezoelectric actuator and the neuro-controller. The variations in natural frequencies of the specimen and the actuation characteristics of the piezoelectric actuator according to the delamination in the bonding layer have been studied. In addition, the simulation of adaptive vibration control has been performed for the composite specimens with delaminated piezoelectric actuator using neuro-controller. The hardware for the adaptive vibration control experiment was prepared. A DSP(digital signal processor) has been used as a digital controller. Using neuro-controller, the adaptive vibration control experiment has been performed. The vibration control results using the neuro-controller show that the present neuro-controller has good performance and robustness with the system parameter variations.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.27-33
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• 1999

In order to regulate cutting force at a desired level during NC lathe process, a feedrate override Adaptive Control Constraint system was developed. Nonlinear model of the cutting process was linearized as an adaptive model with a time varing process parameter. Performance of the ACC system was confirmed on the NC lathe equipped with the developed NC system through a large amount of experiment.