• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.173-179
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• 2002

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

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.267-274
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• 1999

This paper proposes an adaptive sliding mode control scheme for an autopilot design of Skid-to-Turn (STT) missiles. The feedback linearization controller eliminates nonlinear terms in STT dynamics and makes the entire system linear. But the modeling errors in dynamics and the external disturbances exert bad influence on the performance of the feedback linearization controller. To handle these uncertainties, an adaptive control scheme is developed, where a bound of the uncertainties is estimated by an adaptive law based on a sliding surface. The asymptotic output tracking is proved by using the Lyapunov stability theory. Simulations for STT missiles illustrate the validity of the proposed scheme.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.1731-1734
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• 2003

In this paper, we describe an approach for image denoising using the lifting construction, with the spatial adaptive wavelet transform. The adaptive lifting scheme is implemented in spatial domain to be adjusted thresholds to reduce noise. In this approach we represent adaptive characteristics of biorthogonal wavelets for choosing predictors effectively. Predict filter is changed from sample to sample according to local signal features with their vanishing moments. We in this approach have implemented and applied to image denoising by finding a relevant minimax threshold. Experimental results show that the adaptive method of denoising process is compared with existing ones, such as non-adaptive wavelet, CRF(13, 7) and SWE(13, 7) wavelets used by JPEG2000.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.114-118
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• 1996

This paper proposes a new technique to the design of adaptive control system using DSPs(TMS320C50) for 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 requre an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by exeperimental reults for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.54.4-54
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• 2001

This paper proposes an adaptive control scheme for an autopilot design of Relaxed-Static-Stability(RSS) Missiles with saturating actuator. The feedback linearization controller eliminates nonlinear terms in RSS missile dynamics and makes the entire system linear. But modeling errors, disturbances and the nonlinear mismatch due to input constraints exert a bad influence on the performance of the feedback linearization controller Thus, first, we derive a parametric affine uncertainty model with modeling errors and disturbances. Then an adaptive control law with anti-windup scheme is developed, where the bounds of uncertainties are estimated with adaptive laws. The proposed adaptive controller can remove the bad effects of uncertainties, of disturbances, and of saturating actuator ...

• Proceedings of the IEEK Conference
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• 2004.06a
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• pp.261-264
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• 2004

We propose a location management with adaptive binding idle lifetime scheme for IP-based wireless network. In our proposed scheme, the binding idle lifetime value is adaptively varied according to user characteristics. The main idea is that the mobile node (MN) does location update (LU) even in idle state. Furthermore a sequential paging scheme is used to reduce the paging cost. The proposed scheme can be used in both cellular network and IP-based network.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1253-1256
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• 1996

In this paper, a new nonlinear feedback linearization control scheme for induction motors is developed. The control scheme employs a fuzzy nonlinear identification scheme based on fuzzy basis function expansion to adoptively compensate the parameter variations, i.e. rotor resistance, mutual and self inductance etc. An important feature of the proposed control scheme is to incorporate the sliding mode controller into the scheme to speed up convergence rate. Simulation tests show the robust behavior of the proposed controller in the presence of the parameter uncertainties of the machine.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.889-894
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• 1993

This paper presents a robust adaptive control scheme based on the Lyapunov design for robot manipulators subjected to inertial parameter uncertainties and bounded torque disturbances. The scheme is a modified version of the adaptive computed torque method which adopts a dead zone into the adaptation mechanism so as to avoid parameter drifts by disturbances. It is shown via stability analysis and computer simulations that all the signals in the overall adaptive system are bounded and tracking errors lie within a prespecified bound.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.39.2-39
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• 2001

This paper describes the design of an output-feedback controller based on an adaptive fuzzy observer for uncertain single-input single-output nonlinear dynamical systems. Especially, we have focused on the realization of minimal dynamic order of the adaptive fuzzy observer. For the purpose, we propose a new method in which no strictly positive real(SPR) condition is needed and combine dynamic rule activation scheme with on-line estimation of fuzzy parameters. By using proposed scheme, we can reduce computation time, storage space, and dynamic order of the adaptive fuzzy observer ...

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.11
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• pp.510-513
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• 2002

In this paper, the robust adaptive controller design scheme is studied for nonlinear systems in the presence of bounded disturbances A new robust adaptive controller is designed using high-order neural networks, which avoids the singularity problem in adaptive nonlinear control. The stability of the resulting adaptive system with the proposed adaptive controller si guaranteed by suitably choosing the design parameters and initial conditions. I addition, the proposed adaptive controller provides improved transient performance and fast on-line adaptation. The ability and effectiveness of the proposed adaptive control scheme is shown trough simulations of a simple nonlinear system.