• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.494-498
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• 1989

This paper describes an efficient time-varying parameter estimation algorithm by resetting the parameter and P matrix of the RLS algorithm. The described algorithm is useful for estimating both jump parameter and drifting parameter which vary quite rapidly.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.2
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• pp.108-113
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• 2005

This paper suggests a control method for an efficient topology/parameter evolution in a bond graph-based GP design framework that automatically synthesizes designs for multi-domain, lumped parameter dynamic systems. We adopt a hierarchical breeding control mechanism with fitness-level-dependent differences to obtain better balancing of topology/parameter search - biased toward topological changes at low fitness levels, and toward parameter changes at high fitness levels. As a testbed for this approach in bond graph synthesis, an eigenvalue assignment problem, which is to find bond graph models exhibiting minimal distance errors from target sets of eigenvalues, was tested and showed improved performance for various sets of eigenvalues.

• Journal of KSNVE
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• v.6 no.5
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• pp.595-605
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• 1996

If the control force designed on the basis of the mathematical model with parameter errors is applied to control the actual system, the closed-loop performance of the actual system will be degraded depending on the degree of the errors, In this study, the effect of parameter errors on the robustness of several natural controls has been analyzed and compared. Every asymptoic stability condition for the natural controls has been derived using Lyapunov approach, and the characteristics of the stability conditions has also been compared. The extent of deviation of the closed-loop performance from the designed one for the natural controls is derived using operator techniques, and evaluated by numerical method. It has been found that the optimal control, acceleration feedback control, and acceleration-position feedback control among the considered natural controls would be robust one with respect to the parameter errors.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.449-454
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• 1994

This paper describes new PID control methods based on the fuzzy logic. PID gains are retuned after evaluating control performances of transient responses in terms of performance features. The retuning procedure is based on fuzzy rules and reasoning accumulated from the knowledge of experts on PID gain scheduling. For the case that the retuned PID gains result in worse CLDR (characteristics of load disturbance rejection) than the initial gains, an on-line tuning scheme of the set-point weighting parameter is, proposed. This is based on the fact that the set-point weighting method efficiently reduce either overshoot or undershoot without any degradation of CLDR. The set-point weighting parameter is adjusted at each sampling instant by the fuzzy rules and reasoning. As a result, better control performances were achived in comparison with die controllers tuned by the Z-N (Ziegler-Nichols) parameter tuning formula or by the fixed set-point weighting parameter.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.4
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• pp.427-438
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• 1991

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic system is preented. In the learning control structure, the control input converges globally and asymtotically to the desired input as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of the time-duration of trajectories, it may be achieved with system trajectories with small duration. In addition, the proposd learning control schemes are applicable to time-varying parametric systems as well as time-invariant systems, because the parameter estimation is performed at each fixed time along the iteration. In the parameter estimator, the acceleration information as well as the inversion of estimated inertia matrix are not used at all, which makes the proposed learning control schemes more feasible.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.535-535
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• 2000

This paper presents an adaptive receding horizon H$_{\infty}$ controller for the linear parameter varying systems in the deterministic environment, which combines a parameter range estimator and a robust receding horizon H$_{\infty}$ controller using the parameter bounds. Using parameter set inclusion and terminal inequality condition, the closed-loop system stability is guaranteed. It is shown that the stabilizing adaptive receding horizon H$_{\infty}$ controller guarantees the H$_{\infty}$ norm bound.

• Journal of Mechanical Science and Technology
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• v.20 no.11
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• pp.1801-1812
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• 2006

In this paper, a 4-wheel vehicle model including the effects of tire slip was considered, along with variable parameter sliding control, pushrod force as the end control parameter, and an antilock sliding control, in order to improve the performance of the vehicle longitudinal response. The variable sliding parameter is made to be proportional to the square root of the pressure derivative at the wheel, in order to compensate for large pressure changes in the brake cylinder. A typical tire force-relative slip curve for dry road conditions was used to generate an analytical tire force-relative slip function, and an antilock sliding control process based on the analytical tire force-relative slip function was used. A retrofitted brake system, with the pushrod force as the end control parameter, was employed, and an average decay function was used to suppress the simulation oscillations. Simulation results indicate that the velocity and spacing errors were slightly larger than the results that without considering wheel slip effect, the spacing errors of the lead and follower were insensitive to the adhesion coefficient up to the critical wheel slip value, and the limit for the antilock control on non-constant adhesion road condition was determined by the minimum of the equivalent adhesion coefficient.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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• pp.3549-3559
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• 1996

In this study, the effect of parameter and modal filter errors on the vibration control characteristics of flexible structures is analyzed for IMSC ( Independent Modal Space Control). If the control force is designed on the basis of the mathematical model with the parameter and modal filter errors, the closed-loop performance of the vibration control system will be degraded depending on the magnitude of the errors. An asymptotic stability condition of the system with parameter and modal filter errors has more significant effect on the stability condition of the system with parameter and modal filter errors has been drived using Lyapunov approach. It has been found that modal filter error has more significant effect on the stability of closed-loop system than parameter error does. The extent of the response deviation of the closed-loop system is also derived and evaluated using operator thchniques.

• Proceedings of the KIEE Conference
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• 1990.11a
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• pp.421-424
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• 1990

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic systems is presented. In the learning control structure, tracking and feedforward input converge globally and asymptotically as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of length of trajectories, it may be achieved with only system trajectories of small duration. In addition, these learning control schemes are expected to be effectively applicable to time-varying parametric systems as well as time-invariant systems, for the parameter estimation is performed at each fixed time along the iteration. Finally, no usage of acceleration signal and no in version of estimated inertia matrix in the parameter estimator makes these learning control schemes more feasible.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.9 no.4
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• pp.472-483
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• 1997

An experimental facility consisting of two $3{\times}4.4{\times}3.8m$ rooms identical in construction is built. Each room has a control system and storage tank supplying hot water to the radiant floor heating system. The facility enables simultaneous comparision of two different control stratigies each implemented in a separate room. The operating performance of three kinds of flow control scheme is tested and compared in this study : (i) conventional on-off control based on feedback from room air temperature (ii) TPSC(two parameter switching control) (iii) TPOC(two parameter on-off control). Results show that TPSC and TPOC using room air and surface temperature sequentially as feedback signal to control hot water supply is the better temperature regulation scheme than conventional control based on feedback from only room air temperature. They are good candidates for the room with radiant floor heating system under continuous and intermittent heating mode.