• The Korean Journal of Applied Statistics
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• v.13 no.2
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• pp.353-369
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• 2000

We systematized an stratified spatial sample design(SSSD) that uses the adequate stratification criteria such as the shapeness or the dispersion of an interesting region in a spatial population. And we proposed an adaptive searching estimation method in the SSSD to estimate the area of region of interest in two-dimensional surfaces. When wc adopt the proposed adaptive searching estimation method in SSSD, the observing sample size is more decreased than a classical sample design that all the designed sample size is observed. Nevertheless it has been shown that we can produce the moderate result but the efficiency is a slight reduced.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.3 no.1
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• pp.93-99
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• 2003

One of the methods to simplify the design process for a fuzzy logic controller (FLC) is to reduce the number of variables representing the rule antecedent. This in turn decreases the number of control rules, membership functions, and scaling factors. For this purpose, we designed a single-input FLC that uses a sole fuzzy input variable. However, it is still deficient in the capability of adapting some varying operating conditions although it provides a simple method for the design of FLC's. We here design two simple-structured adaptive fuzzy logic controllers (SAFLC's) using the concept of the single-input FLC. Linguistic fuzzy control rules are directly incorporated into the controller by a fuzzy basis function. Thus some parameters of the membership functions characterizing the linguistic terms of the fuzzy control rules can be adjusted by an adaptive law. In our controllers, center values of fuzzy sets are directly adjusted by an adaptive law. Two SAFLC's are designed. One of them uses a Hurwitz error dynamics and the other a switching function of the sliding mode control (SMC). We also prove that 1） their closed-loop systems are globally stable in the sense that all signals involved are bounded and 2） their tracking errors converge to zero asymptotically. We perform computer simulations using a nonlinear plant.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.35 no.12
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• pp.573-578
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• 1986

The adaptive control of a plant in the presence of disturbance is considered. In sevral papers, it was shown that bounded disturbance made the basic adaptive scheme unstable. For achieving robust stability in adaptive control system in the presence of disturbance, the pureintegration in the adaptive law is limited by means of an additional feedback term. In this paper, the suggested adaptive control law has property that the output error converges to zero whether the disturbance exist or not, without the priori knowledge. The adaptive controller suggested assure the boundness of all signal in the overall system. Finally, computer simulation show the effectiveness of the suggested adaptive control law.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and 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 simulation and experimental results for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1577-1580
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• 2004

This paper proposes a design and implementation of transversal adaptive digital filter using LMS (Least Mean Squares) adaptive algorithm. The filter structure is based on Distributed Arithmetic (DA) which is able to calculate the inner product by shifting and accumulating of partial products and storing in look-up table, also the desired adaptive digital filter will be multiplierless filter. In addition, the hardware implementation uses VHDL (Very high speed integrated circuit Hardware Description Language) and synthesis using FLEX10K Altera FPGA (Field Programmable Gate Array) as target technology and uses Leonardo Spectrum and MAX+plusII program for overall development. The results of this design are shown that the speed performance and used area of FPGA. The experimental results are presented to demonstrate the feasibility of the desired adaptive digital filter.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.316-321
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• 2003

This paper presents a design method of the wavelet neural network based controller using direct adaptive control method to deal with a stable intelligent control of chaotic systems. The various uncertainties, such as mechanical parametric variation, external disturbance, and unstructured uncertainty influence the control performance. However, the conventional control methods such as optimal control, adaptive control and robust control may not be feasible when an explicit, faithful mathematical model cannot be constructed. Therefore, an intelligent control system that is an on-line trained WNN controller based on direct adaptive control method with adaptive learning rates is proposed to control chaotic nonlinear systems whose mathematical models are not available. The adaptive learning rates are derived in the sense of discrete-type Lyapunov stability theorem, so that the convergence of the tracking error can be guaranteed in the closed-loop system. In the whole design process, the strict constrained conditions and prior knowledge of the controlled plant are not necessary due to the powerful learning ability of the proposed intelligent control system. The gradient-descent method is used for training a wavelet neural network controller of chaotic systems. Finally, the effectiveness and feasibility of the proposed control method is demonstrated with application to the chaotic systems.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.630-642
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• 2007

In this paper, we propose a direct model reference adaptive fuzzy control (MRAFC) for MIMO nonlinear systems whose structure is represented by the Takagi-Sugeno fuzzy model. The adaptive law of the MRAFC estimates the approximation error of the fuzzy logic system so that it provides asymptotic tracking of the reference signal for the systems with uncertain or slowly time-varying parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal. To verify the validity and effectiveness of the MRAFC scheme, the suggested analysis and design techniques are applied to the tracking control of robot manipulator and simulation studies are carried out. In the control design, the MRAFC is combined with feedforward PD control to make the actual joint trajectories of the robot manipulator with system uncertainties track the desired reference joint position trajectories asymptotically stably.

• Smart Structures and Systems
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• v.20 no.4
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• pp.441-450
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• 2017

The objective of this work is to present a conceptual design and the modelling of a distributed sensor system based on fiber optic devices (Fiber Bragg Grating, FBG), aimed at measuring span-wise and chord-wise variations of an adaptive (morphing) trailing edge. The network is made of two different integrated solutions for revealing deformations of the reference morphing structure. Strains are confined to typical values along the span (length) but they are expected to overcome standard ranges along the chord (width), up to almost 10%. In this case, suitable architectures may introduce proper modulations to keep the measured deformation low while preserving the information content. In the current paper, the designed monitoring system combines the use of a span-wise fiber reinforced patch with a chord-wise sliding beam. The two elements make up a closed grid, allowing the reconstruction of the complete deformed shape under the acceptable assumption that the transformation refers to regular geometry variations. Herein, the design logic and some integration issues are reported. Preliminary experimental test results are finally presented.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.61-64
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS32OC50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator. In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters are determined by the pole-placement method. Performance of self-tuning adaptive controller is illustrated by the simulation and experiment for a SCARA robot.

• 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.