• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.359-361
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• 1993

In this paper, a variable structure controller with time-varying sliding surface is proposed for robot manipulators. The proposed time-varying sliding surface ensures the existence of sliding mode from an initial state, while the contentional sliding surface cannot achieve the robust performance against parameter variations and disturbances before the sliding mode occurs. Therefore, error transient can be fully prescribed in advance for all time. Furthermore, it is shown that the overall system is globally exponetially stable. The efficiency of the proposed method for the trajectory tracking has been demonstrated by simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.164.2-164
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• 2001

Sliding mode control (SMC) with variable nonlinear boundary layer is proposed. Two Fuzzy logic controllers (FLCs) are used to decide both boundary layer thickness and nonlinear interpolation using sigmoid function in the boundary layer. The nonlinear interpolation in the boundary layer suing FLC reduces stead state error and chattering. Sigmoid function is used to nonlinear interpolation in the boundary layer sigmoid function parameter with FLC. To demonstrate its performance, the Proposed control algorithm is applied to a simple nonlinear system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.999-1004
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• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2004년도 가을 학술발표논문집 Vol.31 No.2 (2)
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• pp.700-702
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• 2004

A local-step optimization method is proposed to supplement the global-step optimization methods which adopt online update mode of internal weights and error energy as stop criterion in learning of multilayer perceptrons (MLPs). This optimization method is applied to the standard online error backpropagation(EBP) and the performance is evaluated for a speaker verification system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.852-855
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• 1996

A variable structure controller is developed for an AC servo motor used in CNC milling machines. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. The robustness parameter is tuned for a fast response when the speed tracking error is large, while it is tuned for small oscillations when the speed tracking error is small. The designed controller is installed on a CNC machine using a PC. Cutting experiments show improved performance over the factory-designed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.860-863
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• 1996

In this paper, we formulate the extended Kalman filter for calibration of gimballed inertial navigation system (GINS) at a pure navigation mode with 1500 ft/sec initial velocity and compare its performance to the linear Kalman filter's by using Monte-Carlo analysis method. It has been shown that estimation performance of the extended Kalman filter is better than that of the linear Kalman filter.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1996년도 가을 학술발표회 논문집
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• pp.486-491
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• 1996

The purpose of present study is to propose a improved damage detection and assessment algorithm that has its basis on the method of system identification. This method allows the use of composite data which is constitute of static displacements and eigenmodes. In the dynamic test, thecurvature and slope of mode shape are introduced to formulate the error responses. The effectiveness of the proposed staristical system identification method is investigated through simulated and experimental studies. Real test data obtained from measurements are used to identify the actual location of damage and to revise the design variables in a concrete structure.

• 대한전기학회논문지
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• 제41권6호
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• pp.625-632
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• 1992

This paper presents a new dc-motor position control approached by Variable Structure System. In order to eliminate a steady-state position error, we propose a switching function composed of position error, velocity, and current ripple. The switching function has an advantage compared to other ones. To determine the control signal voltage, we use a fuzzy logic method. The simulation results show expected performances.

• 대한전자공학회논문지SP
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• 제39권6호
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• pp.591-601
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• 2002

동영상 압축에서 움직임 보상은 뛰어난 압축 효율을 보이는 반면에 어느 한 시점에서 오류가 발생할 경우 그 시점 이후로 계속해서 오류가 확산된다는 단점이 있다. 인트라 업데이트 방법은 이러한 오류의 확산을 차단하는 방법이다. 그러나 인트라 업데이트 방법은 압축의 효율을 떨어뜨린다는 단점이 있다. 본 논문에서는 오류의 영향과 비트율 제어를 함께 고려하여 인트라 업데이트를 할 수 있는 방법을 제안한다. 제안된 방법은 비트율과 왜곡의 값을 추정하고 라그랑지안 최적화를 통해 부호화 모드와 양자화 파라메터를 선택하는 방법으로 MPEG-4 코덱에 적용하여 실험하였다. 실험 결과는 제안된 방법이 기존의 방법보다 패킷 손실과 같은 오류 환경에서 더 좋은 화질을 나타내는 것을 보여준다.

• 전력전자학회논문지
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• 제18권6호
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• pp.579-586
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• 2013

This paper proposes a mode transition algorithm between the grid-tied and the stand-alone operations for the single-phase inverter with the energy storage system. For the grid-tied operation, the dc-link voltage and the output current are required to be control. For the stand-alone mode, both the output voltage and the output current should be regulated. In order to mitigate a falling-off in control performance during transients in mode change, the load power estimation and the current selection schemes are proposed. The proposed method allows an optimized current reference is selected to reduce an output voltage drop and an excessive over-current in transient. To verify the effectiveness of the proposed method, both the simulation and the experiments for a 3kW single-phase inverter with the energy storage system have been conducted. From the results, it has been confirmed that the proposed method reduces a transient error as well as implementing smooth mode transition.