• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.777-780
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• 1991

The practical implementation of model reference adaptive systems(MRAS) using digital computer requires the derivation of discrete-time adaptation laws. This is specially important in the case of direct driver robot and light weight manipulator where inertia changes ang gravity effects are significant. We develope a discrete-time model reference adaptive control scheme for trajectory tracking of robot manipulator. Instead of the conventional Lyapunov approach hyperstabillty theory is more appealing than the Lyapunov approach. It is better suited to discrete time systems and offers more flexibility in design by providing additional free design parameters.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.69-72
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• 1987

General schemes for the adaptive control and identification of multivariable systems by model reference approach are developed. Lyapunov's direct method and LaSalle's theorem are employed to ensure the stability of these schemes. An added feature is the simplicity of the stable adaptive laws, which depend explicitly on the state variables of plant and model, and on the plant input. Computer simulation results of several examples illustrate the the effectiveness of the proposed schemes.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.1
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• pp.31-37
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• 2001

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the dynamics of each vehicle within the platoon. The external disturbances such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicles's acceleration. The proposed controller guarantees to recover platoon stability in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. It is shown that the proposed observer is exponentially stable, and the at the robust adaptive controller is stable. The simulation results demonstrate excellent tracking even in the presence of disturbances.

• Proceedings of the KIPE Conference
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• 1996.06a
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• pp.13-16
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• 1996

A new instantaneous torque control technique is presented for a high performance control of a permanent magnet synchronous motor. Using the model reference adaptive system technique, the linkage flux of the motor is estimated and the torque is instantaneously controlled by the proposed torque controller combining with a variable structure control and space vector PWM. The proposed torque control provides the advantage of reducing the torque pulsation caused by the flux harmonics. This control strategy is applied to the high torque PM synchronous motor drives for direct drive systems and is implemented by using a software of the DSP TMS320C30. The experiments are carried out for this system and the results well demonstrate the effectiveness of the proposed control.

• Korean Journal of Culture and Social Issue
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• v.28 no.3
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• pp.331-352
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• 2022

This study used a latent growth curve models(LGCM) to examine longitudinal changes in youth's game usage, self-control and the longitudinal mediation effect of adaptive game use in the relationship between game usage and self-control. A four-year longitudinal data of 863 adolescents from the Game User Panel Survey, provided through participation in the 2019 Game User Panel Research Conference hosted by the Korea Creative Contents Agency, was used to verify the longitudinal mediation effect of adaptive game use. SPSS 21 was used to verify the normality of variables from each wave, and to conduct correlation analysis. Mplus 6.12 was used to verify the longitudinal mediation effect. The results are as follows. First, game usage, self-control and adaptive game yielded linear temporal growth. Second, latent growth curve models showed that the direct effect of game usage on self-control was insignificant, but game usage had a significant indirect effect on self-control through adaptive game use. Continuous adaptive gaming increased self-control. Third, sobel test results showed that both the initial value and change rate of adaptive game use had a full-mediation effect, confirming the longitudinal mediation effect. This study verified the longitudinal change of self-control affected by change in game usage and adaptive game use.

• International Journal of CAD/CAM
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• v.6 no.1
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• pp.139-148
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• 2006

Catmull-Clark subdivision scheme provides a powerful method for building smooth and complex surfaces. But the number of faces in the uniformly refined meshes increases exponentially with respect to subdivision depth. Adaptive tessellation reduces the number of faces needed to yield a smooth approximation to the limit surface and, consequently, makes the rendering process more efficient. In this paper, we present a new adaptive tessellation method for general Catmull-Clark subdivision surfaces. Different from previous control mesh refinement based approaches, which generate approximate meshes that usually do not interpolate the limit surface, the new method is based on direct evaluation of the limit surface to generate an inscribed polyhedron of the limit surface. With explicit evaluation of general Catmull-Clark subdivision surfaces becoming available, the new adaptive tessellation method can precisely measure error for every point of the limit surface. Hence, it has complete control of the accuracy of the tessellation result. Cracks are avoided by using a recursive color marking process to ensure that adjacent patches or subpatches use the same limit surface points in the construction of the shared boundary. The new method performs limit surface evaluation only at points that are needed for the final rendering process. Therefore it is very fast and memory efficient. The new method is presented for the general Catmull-Clark subdivision scheme. But it can be used for any subdivision scheme that has an explicit evaluation method for its limit surface.

• Structural Engineering and Mechanics
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• v.65 no.6
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• pp.721-730
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• 2018

This paper aims to inspect the effectiveness of the Simple Adaptive Control Method (SACM) to control the response of asymmetric buildings with rotationally non-linear behavior under seismic loads. SACM is a direct control method and was previously used to improve the performance of linear and non-linear structures. In most of these studies, the modeled structures were two-dimensional shear buildings. In reality, the building plans might be asymmetric, which cause the buildings to experience torsional motions under earthquake excitation. In this study, SACM is used to improve the performance of asymmetric buildings, and unlike conventional linear models, the non-linear inertial coupling terms are considered in the equations of motion. SACM performance is compared with the Linear Quadratic Regulator (LQR) algorithm. Moreover, the LQR algorithm is modified, so that it is appropriate for rotationally non-linear buildings. Active tuned mass dampers are used to improve the performance of the modeled buildings. The results show that SACM is successful in reducing the response of asymmetric buildings with rotationally non-linear behavior under earthquake excitation. Furthermore, the results of the SACM were very close to those of the LQR algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.3
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• pp.39-46
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• 2005

In this paper, adaptive higher harmonic control technique using Neural Networks (NN) is proposed. First, linear transfer function is estimated to relate the input harmonics and output harmonics, then NN which has the universal function approximation property is applied to expand application range of the transfer function. Optimal control gain matrix computed from the transfer function is used to train NN weights. Online weight adaptation laws are derived from Lyapunov's direct method to guarantee internal stability. Results of the simulation of 6-input 2-output nonlinear system show that adaptive HHC is applicable to the system with uncertain transfer function.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.4
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• pp.21-28
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• 2004

This paper presents a direct multivariable self-tuning controller using neural network which adapts to the changing parameters of the higher order multivariable nonlinear system with nonminimum phase behavior, mutual interactions and time delays. The nonlinearities are assumed to be globally bounded, and a multivariable nonlinear system is divided linear part and nonlinear part. The neural network is used to estimate the controller parameters, and the control output is obtained through estimated controller parameter. In order to demonstrate the effectiveness of the proposed algorithm the computer simulation is done to adapt the multivariable nonlinear nonminimm phase system with time delays and changed system parameter after a constant time. The proposed method compared with direct multivariable adaptive controller using neural network.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2992-2994
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• 1999

This paper investigates the direct adaptive control of nonlinear systems using RBFN(radial basis function networks). The structure of the controller consists of a fixed PD controller and a RBFN controller in parallel. An adaptation law for the weight adjustment is developed based on the Lyapunov stability theory to guarantee the stability of the overall control scheme. Also, the tracking errors between the system outputs and the desired outputs converge to zero asymptotically. To evaluate the performance of the controller, the proposed method is applied to the trajectory control of the two-link manipulator.