• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.488-493
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• 1994

The global stability of model reference adaptive control system (MRACS) in the ideal case was resolved in the 1980's. Hoever the improvement of the transient, behaviour of MRACS has not been discussed sufficiently even in the ideal case. Only a few attempts have so far been made at the application of MRACS to the practical systems in contrast to the theoretical systematization. Therefore, when we consider the practical usage of MRACS it is necessary to develop an improved design scheme with respect to transient behaviour. In this paper, we propose two design schemes improving transient behaviour of MRACS by mollifying the input synthesis in the conventional design scheme of MRACS. We present a design scheme of MRACS in which we utilize the design approach of variable structure system(VSS). After describing the above design scheme, we also propose the improved design scheme in which we introduce the dead-zone decided by the magnitude of the output-error between the plant and the reference model. The effectiveness of the proposed two design schemes are shown through computer simulations. As the results, by using these methods, the convergence of the transient response is greatly improved in comparison with the conventional one.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1239-1244
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• 2004

Precise positioning is an important problem facing motion control systems which usually use electric motor. A motor possesses a nonlinear property which degrades the positioning accuracy. Therefore, a compensator which linearizes the relationship between the angular velocity and input signal of the motor is required to enable precise positioning. In this paper, the design of a Model Reference Adaptive Control System (MRACS) for realizing the precise positioning for a system using a motor including the nonlinear property is described. The designed MRACS is applied to the attitude control problem on a satellite using a DC servomotor to drive its reaction wheel. Experimental results demonstrate the validity of a proposed control method for a positioning control system with an electric motor.

• Proceedings of the KIEE Conference
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• 1985.07a
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• pp.70-72
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• 1985

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.739-744
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• 2000

A robust control algorithm under disturbance and reference change is developed using a self tuning control method incorporting of the well known internal model principle and the annihilator polynomical. The types of disturbance and reference signal are assumed to be given as known difference polynomials. The algorithm is shown for a minimum phase system with parameters of unknown parameters.