• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.12
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• pp.663-670
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• 2003

This paper deals with speed control of DC servo motor using a Adaptive high gain obserber. In this parer, the gain of the observer is properly set up using the fuzzy control and adaptive high gain observer that have a superior transient characteristic and is easy to implement compared the existing method is designed. In order to verify the performance of the Adaptive high gain observer which is proposed in this paper, it is compared estimate performance of High-gain Observer and Adaptive High Gain Observer with the computer simulation. Effectiveness of the proposed high gain observer is proved from the experiment to compare the case with a speed sensor to the case with Adaptive high gain observer in the speed control of DC servo motor.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.53-55
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• 2004

This paper deals with speed control of AC servo motor using a Adaptive fuzzy high gain observer. In this parer, the gain of the observer is properly set up using the fuzzy control and adaptive high gain observer that have a superior transient characteristic and is easy to implement compared the existing method is designed. In order to verify the performance of the Adaptive fuzzy high gain observer which is proposed in this paper, it is compared estimate performance of High-gain Observer and Adaptive High Gain Observer with the computer simulation. Effectiveness of the proposed high gain observer is proved from the experiment to compare the case with a speed sensor to the case with Adaptive fuzzy high gain observer in the speed control of AC servo motor.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.484-487
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• 2003

In this paper describes a design of Adaptive high gain observer. The gain of the observer is properly set up using the fuzzy control and adaptive high gain observer that have a superior transient characteristic and is easy to implement compared the existing method is designed. In order to verify the performance of the Adaptive high gain observer which is proposed in this paper, it is compared estimate performance of High-gain Observer and Adaptive High Gain Observer with the computer simulation. Effectiveness of the proposed high gain observer is proved from the simulation to compare the case with a speed sensor to the case with Adaptive high gain observer in the speed control of DC servo motor.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.19-27
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• 2003

It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition called output feedback exponential passivity (OFEP). The designed high-gain adaptive controller has simple structure and high robustness with regard to bounded disturbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we design a robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances. The effectiveness of the proposed method is shown by numerical simulations.

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

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.734-738
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• 1996

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain observers with same structure as error dynamic systems are used to estimate joint velocities. The parameter adaptation is achieved by the smoothed projection algorithm. The control inputs are saturated outside a domain of interest. Simulation results on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.34.4-34
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• 2001

It is well known that one can easily design a high-gain adaptive output feedback control for a class of nonlinear systems which satisfy a certain condition so called output feedback exponential passivity (OFEP). The designed high gain adaptive controller has simple structure and high robustness with regard to bounded disterbances and unknown order of the controlled system. However, from the viewpoint of practical application, it is important to consider a robust control scheme for controlled systems for which some of the assumptions of output feedback stabilization are not valid. In this paper, we deal with a design problem of the robust high-gain adaptive output feedback control for the OFEP nonlinear systems with uncertain nonlinearities and/or disturbances.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.621-624
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• 2002

The purpose of this paper is a study on getting proper gain set of PID controller which satisfies multi-performance specifications of the control system. The multi-objective optimization method is introduced to evaluate specifications, and the genetic algorithm is used as an optimal problem solver. To enhance the performance of genetic algorithm itself, adaptive technique is included. According to the proposed method in this paper, finding suitable gain set can be more easily accomplishable than manual gain seeking and tuning.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.1
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• pp.47-52
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• 2012

This paper focuses on discrete-time sliding mode control with SIIM fuzzy adaptive switching gain. The adaptive switching gain is calculated using the simplified indirect inference fuzzy logic. Two fuzzy inputs are the normal distance from the present state trajectory to the switching function and the distance from the present state trajectory to the equilibrium state. The fuzzy output $f_{out}$(k) out f k is used to adjust the speed the adaptation law depending on the location of the state trajectory. The simulation results showed that the proposed method had no chattering in case of uncertain parameter without disturbance. Moreover the convergent rate of the switching gain was faster and more stable even in case of disturbance.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.178-186
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• 2006

We propose and analyze a robust adaptive fuzzy controller for nonlinear systems without a priori knowledge of the sign of the input gain function. No assumptions are made about the type of nonlinearities of the system, except that such nonlinearities are smooth. The uncertain nonlinearities are captured by the fuzzy systems that have been proven to be universal approximators. The proposed control scheme completely overcomes the singularity problem that occurs in the indirect adaptive feedback linearizing control. Projection in the estimated parameters and switching in the control input are both not required. The stability of the closed-loop system is guaranteed in the Lyapunov viewpoint.