• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• 전력전자학회논문지
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• 제3권4호
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• pp.399-406
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• 1998

본 연구에서는 SRM의 고성능 운전을 구현하기 위해 토오크를 순시적으로 제어하기 위한 방법을 제시한다. 먼저 SRM의 토오크-전류-회전자 위치각 특성을 측정에 의해 구하여 이를 기기의 모델로 설정한다. 이를 바탕으로 각 상간의 토오크중첩을 고려하여 부하와 속도의 변동에 따라 총합 발생토오크를 순시적으로 제어함으로써 맥동성분을 최소화시키는 기준토오크를 설정하고, 이 기준토오크를 추종하기 위한 기준 상전류 파형을 구한다. 이러한 기준전류를 추종하는 방안으로써 PWM에 의한 델타변조 (Delta Modulation) 기법을 사용한다. 실험과 시뮬레이션과 실험결과를 비교함으로써 제안된 방식의 타당성을 입증한다.

• 대한전자공학회논문지
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• 제25권9호
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• pp.1046-1050
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• 1988

A direct adaptive control algorithm for discrete-time SISO systems with arbitrary zeros is presented in a general way by making use of reference model. A linear equation error model is formulated for estimating both the controller parameters and the auxiliary parameters. With this algorithm, asyptotic tracking within an arbitrarily small error can be achieved.

• 대한전자공학회논문지
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• 제26권9호
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• pp.1322-1331
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• 1989

This paper proposes a new adaptation algorithm with which a model reference adaptive control can give a local boundedness of the tracking error applied to a continuous-time linear time-invariant single-input single-output plant whose reduced-order model is of relative degree 1 and whose unmodeled dynamics may be represented in a sigular perturbation form. With the addition of an offset term and an extra adaptation structure, this algorithm is shown to have a robustness property in the sense that this gives zero residual tracking errors when the unmodeled dynamics are disappeared.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.469-474
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• 2002

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we have developed an automatic excavation system and adaptive control system. A model- reference adaptive controller has been designed on the model that is obtained through off-line System Identification. It is illustrated by computer simulations that the proposed control system gives good performances in the trajectory tracking control and adaptation to parameter variation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.261-262
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• 2007

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steeredwheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is controlled to track several different reference paths. It is shown that the control strategy is feasible.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.974-976
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• 1996

In this paper, a reference model following control system using a fuzzy logic controller(FLC) is proposed By using an integrator and a nonlinear hysteresis element, a reference model whose response has no overshoot and fast rise time is designed. A FLC is designed to follow as close as possible to the response of the reference model. The proposed design method is shown that the robustness and the optimal tracking property can be achieved under modeling error, disturbance and parameter perturbations. The effectiveness of the proposed design method is verified through the simulation that compare using the FLC with using a $H_{\infty}$ controller.

• Journal of Electrical Engineering and information Science
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• 제3권1호
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• pp.36-44
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• 1998

In this paper, a robust adaptive sliding mode control algorithm for accurate trajectory tracking of robot manipulators is proposed, with unknown parameters being estimated on-line. The controller is designed based on a Lyapunov method, which consists of adaptive feed-forward compensation part and a discontinuous control part. It is shown that, in the presence of the uncertainty and the disturbances arising from the actuator or some other causes, the tracking errors is bound to converge to zero asymptotically. An illustrative example is given to demonstrate the results of the propose method.

• Journal of Electrical Engineering and Technology
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• 제13권6호
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• pp.2521-2529
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• 2018

This paper deals with a sampled-data tracking control problem for the Takagi-Sugeno fuzzy system with external disturbances. We derive a stability condition guaranteeing both asymptotic stability and H-infinity tracking performance by employing a newly proposed time-dependent line-integral fuzzy Lyapunov-Krasovskii functional. A new integral inequality is also introduced, by which the proposed stability condition is formulated in terms of linear matrix inequalities. Finally, the effectiveness of the proposed method is demonstrated through a simulation example.

• Transactions on Control, Automation and Systems Engineering
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• 제3권2호
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• pp.95-105
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• 2001

In this paper, in order to control uncertain chaotic system, an adaptive fuzzy control(AFC) scheme is developed for the multi-input/multi-output plants represented by the Takagi-Sugeno(T-S) fuzzy models. The proposed AFC scheme provides robust tracking of a desired signal for the T-S fuzzy systems with uncertain parameters. The developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop system. In addition, the chaotic state tracks the state of the stable reference model(SRM) asymptotically with time for any bounded reference input signal. The suggested AFC design technique is applied for the control of an uncertain Lorenz system based on T-S fuzzy model such as stabilization, synchronization and chaotic model following control(CMFC).