• International Journal of Control, Automation, and Systems
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• 제2권1호
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• pp.1-14
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• 2004

This paper surveys some existing direct adaptive feedback control schemes for linear time-invariant systems with actuator failures characterized by the failure pattern that some inputs are stuck at some unknown fixed or varying values at unknown time instants, and applications of those schemes to aircraft flight control system models. Controller structures, plant-model matching conditions, and adaptive laws to update controller parameters are investigated for the following cases for continuous-time systems: state tracking using state feed-back, output tracking using state feedback, and output tracking using output feedback. In addition, a discrete-time output tracking design using output feedback is presented. Robustness of this design with respect to unmodeled dynamics and disturbances is addressed using a modified robust adaptive law.

• 대한전자공학회논문지
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• 제26권8호
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• pp.1161-1166
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• 1989

In this paper, a hierarchical state feedback control method is proposed for the optimal tracking of large-scale discrete-time systems with time-delays. The state feedback gain matrix and the compensation vector are computed from the optimal trajectories of the state variables and control inputs obtained hierarchically by the open-loop control method based on the interaction prediction method. The resulting feedback gain matrix and the compensation vector are optimal for the given initial condition. Computer simulation results show that the proposed method has better control performance and fewer second level iterations than the Tamura method.

• Journal of Power Electronics
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• 제19권2호
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• pp.333-343
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• 2019

Dead time and the nonideal characteristics of components all lead to phase voltage distortions. In order to eliminate the harmful effects caused by distortion, numerous methods have been proposed. The efficacy of a method mainly depends on two factors, the compensation voltage amplitude and the phase current polarity. Theoretical derivations and experiments are given to explain that both of these key factors can be deduced from the compensation time, which is defined as the error time between the ideal phase voltage duration and the actual phase voltage duration in one Pulse Width Modulation (PWM) period. Based on this regularity, a novel method for compensating phase voltage has been proposed. A simple circuit is constructed to realize the real-time feedback of the phase voltage. Utilizing the actual phase voltage, the compensation time is calculated online. Then the compensation voltage is derived. Simulation and experimental results show the feasibility and effectivity of the proposed method. They also show that the error voltage is decreased and that the waveform is improved.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.76.3-76
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• 2001

In this paper, an adaptive disturbance compensation technique is used in a tracking problem, under which the tracking reference is unknown. Based on a simple disturbance observer that effectively estimates the low frequency components of disturbance, the feedforward compensation is applied in addition to the conventional feedback control. Under the proposed compensation method, sensitivity analysis is given to illustrate the effectiveness. Finally, the proposed method is applied to the tracking problem in an optical storage system.

• 전기학회논문지
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• 제59권7호
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• pp.1289-1294
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• 2010

In this paper, a new discrete integral static output feedback variable structure controller based on the a new integral dynamic-type sliding surface and output feedback discrete version of the disturbance observer is suggested for the control of uncertain linear systems. The reaching phase is completely removed by introducing a new proposed integral dynamic-type sliding surface. The output feedback discrete version of disturbance observer is presented for effective compensation of uncertainties and disturbance. A corresponding control with disturbance compensation is selected to guarantee the quasi sliding mode on the predetermined integral dynamic-type sliding surface for guaranteeing the designed output in the integral dynamic-type sliding surface from any initial condition for all the parameter variations and disturbances. Using discrete Lyapunov function, the closed loop stability and the existence condition of the quasi sliding mode is proved. Finally, an illustrative example is presented to show the effectiveness of the algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.431-431
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• 2000

The modeling of 5-bar linkage robot manipulator dynamics by means of a mathematical and neural architecture is presented. Such a model is applicable to the design of a feedforward controller or adjustment of controller parameters. The inverse model consists of two parts: a mathematical part and a compensation part. In the mathematical part, the subsystems of a 5-bar linkage robot manipulator are constructed by applying Kawato's Feedback-Error-Learning method, and trained by given training data. In the compensation part, MLP backpropagation algorithm is used to compensate the unmodeled dynamics. The forward model is realized from the inverse model using the inverse of inertia matrix and the compensation torque is decoupled in the input torque of the forward model. This scheme can use tile mathematical knowledge of the robot manipulator and analogize the robot characteristics. It is shown that the model is reasonable to be used for design and initial gain tuning of a controller.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.560-564
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• 2015

This paper presents a design method of a static output feedback controller for continuous T-S fuzzy systems via parallel distributed compensation (PDC). The existence condition of a set of static output feedback gains is represented in terms of linear matrix inequalities (LMIs). The sufficient condition presented here does not need any transformation matrices and equality constraints and is less conservative than the previous results seen in [20].

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.496-501
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• 2016

This paper presents a design method of non-parallel distributed compensation (non-PDC) static output feedback controller for continuous- and discrete-time T-S fuzzy systems. The existence condition of static output feedback control law is represented in terms of linear matrix inequalities (LMIs). The proposed sufficient stabilizing condition does not need any transformation matrices and equality constraints and is less conservative than the previous result of [21].

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.534-534
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• 2000

This paper proposes a dynamic compensation scheme for input-constrained feedback linearizable nonlinear systems to cope with the windup phenomenon. Given a feedback linearizing controller for such a nonlinear system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. This dynamic anti-windup is based on the minimization of a reasonable performance index, and some stability properties of the resulting closed-loop are presented.

• 한국음향학회지
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• 제24권5호
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• pp.238-247
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• 2005

본 논문에서는 디지털 보청기의 보상필터와 적응 궤환제거기의 부밴드 설계기법을 다룬다 감음 신경성 난청은 주파수 대역에서 비선형 특성을 보이는 가청 한계값 (hearing thresholds)을 가지며 시변하는 궤환경로에 의해 보상이 어렵다. 그러므로 디지틸 보청기는 주파수 대역별 비선형적 이득조정이 가능하며 반향을 빠르게 제거할 수 있는 보상기를 필요로 한다. 제안한 디지털 보청기에서 보상필터는 부밴드 구조에서 적응 시스템 식별기법을 이용하여 설계되며 적응 궤환제거기는 부밴드 인접투사 알고리즘을 이용하여 설계된다. 설계된 보상필터는 비선형 이득을 각 부밴드에서 조정할 수 있으므로 보다 정확한 이득보상이 가능하다. 그리고 부밴드 적응필터를 사용하는 궤환제거기는 빠른 수렴속도를 가진다. 설계된 보상필터는 주파수 대역별로 비선형적 이득보상이 가능하다. 그리고 적응 궤환제거기는 원치 않은 반향을 빠르게 제거할 수 있다. 제안한 보상필터의 성능을 컴퓨터 시뮬레이션을 통해 이전 방법의 성능과 비교하여 입증한다.