• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
• /
• pp.231-234
• /
• 1996

This paper considers the output regulation problems on uncertain systems. Using NR-estimator(on-line), a family of equilibrium points for the uncertain system is computed. The state variables of the closed loop system track the average value of the obtained equilibrium manifold by dynamic state feedback control.

• International Journal of Control, Automation, and Systems
• /
• 제2권1호
• /
• pp.68-75
• /
• 2004

In this paper, an estimator with an appropriate adaptive law for updating parameters is designed and analyzed based on the Lyapunov theory. The adaptive law is designed so that the estimation model follows the parameterized plant model. Using the proposed estimator, the parameters of the T-S fuzzy model can be estimated by observing the behavior of the system and it can be a basis for indirect adaptive fuzzy control.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 1996년도 춘계학술대회논문집; 부산수산대학교, 10 May 1996
• /
• pp.113-118
• /
• 1996

Nonlinear Attitude Dynamic Equation for rigid-body satellite is derived and linearzed. Estimator using Kalman filter and controller are designed. Controller using LQR technique implemented on satellite under torque disturbance shows much better performance than those by using of Bang-Bang technique.

• 전자공학회논문지B
• /
• 제33B권7호
• /
• pp.21-31
• /
• 1996

An intelligent integrated control system is designed for the active steering and the left/right traction force distribution control of electric vehicles, where input-output linearization is employed. Also, a fuzzy-rule-based cornering force estimator is suggested to avoid using an uncertain highly nonlinear expression, and a neural network compensator is additively utilized for the estimator to correctly find cornering forece. With these techniques, the proposed control system is shown by simulation results to be robust against drastic change of the external environments such as road conditions.

• 소음진동
• /
• 제6권5호
• /
• pp.567-574
• /
• 1996

This paper concerns an articulated space robot with flexible links. The equations of its motion are derived by means of the Lagrangian mechanics. Assuming that magnitude of elastic motions are relatively small, the perturbation approach is taken to separate the original equations of motion into linear and nonlinear equations. Th effect the desired payload motion, open loop control inputs are first determined based on the nonlinear equations. One the other hand, in order to reduce the positional errors during the maneuver, vibration suppression is actively done with a feedforward control for disturbance cancellation to some extent. Additionally, for performance robustness against residual disturbance, an LQ control modified to have a prescribed degree of stability is applied based on the linear equations. Measurement equations are formulated to be used for the maximum likelihood estimator to reconstruct states from the original robot equations of motion. Finally, numerical simulations show effectiveness of the proposed control design scheme.

• 응용통계연구
• /
• 제4권1호
• /
• pp.13-24
• /
• 1991

절산된 선형의 단일방정식 회귀모형의 추정은 Tobin(1958)에 의하여 처음으로 조사된 후 Amemiya(1973)를 기점으로 활발한 연구가 진행되었으나, 절삭된 비선형의 연립방정식 모형에 대하여는 연구결과가 거의 전무한 상태이다. 본 논문에서는 단순한 형태의 절삭된 비선형 연립방정식 모형을 가정하고 이 모형을 대상으로 몇가지 가능한 추정방법들 즉, 구조방정식에 대한 최우추정량(MLE)과 Lee and Hurd(1989)에서 소개된 2단계 준최우추정량(2QMLE) 및 또 다른 대안이 될 수 있는 추정량을 서로 몬테칼로 방법으로 비교 검토하였다. 그 결과 MLE의 적용이 실제적으로 불가능한 상황에서는 2QMLE가 MLE의 대안으로 충분히 사용될 수 있음을 보여 주었다.

• 응용통계연구
• /
• 제15권1호
• /
• pp.139-151
• /
• 2002

본 논문에서는 베이지안 기법을 이용한 비선형회귀모형의 선택법을 제안하였다. 베이즈요인에 기초한 이 방법은 주로 대표본의 경우에 이용되는 고전적 모형선택법에 비해 사전정보를 이용하는 측면과 비내포모형 및 소표본의 경우에 대해서도 효과적으로 사용될 수 있다는 장점을 가진다. 본 논문에서는 정보적 사전분포를 고려하였으며, 베이즈요인의 추정 방법으로 Laplace - Metropolis 추정 법을 제안하였다. 또한 MCMC 과정을 통해 추정된 모수의 수렴진단에 대해서도 고려하였다. 실제자료에 대한 최적의 모형선택 및 진단과정을 구체적으로 제시하였다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 제38회 하계학술대회
• /
• pp.1724-1725
• /
• 2007

This paper presents a fault detection and isolation(FDI) scheme for a nonlinear systems with a actuator and sensor faults. A residual generator based on the observer model generate the information for a fault detection. The proposed fault estimators are activated for a fault isolation and applied to estimate the time-varying lumped faults(model uncertainty + fault). but a fault estimator error dose not converge to zero since the derivative of lumped fault is not zero. Then the fuzzy neural network(FNN) is used to estimate the fault estimator error. Simulation results are presented to illustrate the effectiveness and the applicability of the approaches proposed.

• 전기학회논문지
• /
• 제61권2호
• /
• pp.276-283
• /
• 2012

In this paper, a practical quasi-optimal DOA(direction of arrival) estimator is proposed in order to develop a one-axis gimbaled ultrasonic source tracker for mobile robot applications. With help of the gimbal structure, the ultrasonic moving source tracking problem can be simply reduced to the DOA estimation. The DOA estimation is known as one of the representative long-pending nonlinear filtering problems, but the conventional nonlinear filters might be restrictive in many actual situations because it cannot guarantee the reliable performance due to the use of nonlinear signal model. This motivates us to reformulate the DOA estimation problem in the linear robust state estimation setting. Based on the assumption that the received ultrasonic signals are noisy sinusoids satisfying linear prediction property, a linear uncertain measurement model is newly derived. To avoid the DOA estimation performance degradation caused by the stochastic parameter uncertainty contained in the linear measurement model, the recently developed NCRKF (non-conservative robust Kalman filter) scheme [1] is utilized. The proposed linear DOA estimator provides excellent DOA estimation performance and it is suitable for real-time implementation for its linear recursive filter structure. The effectiveness of the suggested DOA estimation scheme is demonstrated through simulations and experiments.

• Smart Structures and Systems
• /
• 제6권1호
• /
• pp.1-16
• /
• 2010

This paper presents a novel smart MEMS accelerometer which employs a hybrid control algorithm and an estimator. This scheme is realized by adding a sliding-mode controller to a conventional PID closed loop system to achieve higher stability and higher dynamic range and to prevent pull-in phenomena by preventing finger displacement from passing a maximum preset value as well as adding an adaptive nonlinear observer to a conventional PID closed loop system. This estimator is used for online estimation of the parameter variations for MEMS accelerometers and gives the capability of self testing to the system. The analysis of convergence and resolution show that while the proposed control scheme satisfies these criteria it also keeps resolution performance better than what is normally obtained in conventional PID controllers. The performance of the proposed hybrid controller investigated here is validated by computer simulation.