• Proceedings of the KIEE Conference
• /
• 2001.07b
• /
• pp.1188-1190
• /
• 2001

This paper presents a clustering adaptive controller to achieve robustness against parameter variations although it has simple structure and computational simplicity. The presented controller based on optimal fuzzy logic controller has an self-tuning characteristics with clustering. The controller requires no model of the system to be controlled. Simulation results show that the usefulness of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.754-759
• /
• 1993

An adaptive model predictive control (AMPC) strategy using auto-regression moving-average (ARMA) models is presented. The characteristic features of this methodology are the small computer memory requirement, high computational speed, robustness, and easy handling of nonlinear and time varying MIMO systems. Since the process dynamic behaviors are expressed by ARMA models, the model parameter adaptation is simple and fast to converge. The recursive least square (RLS) method with exponential forgetting is used to trace the process model parameters assuming the process is slowly time varying. The control performance of the AMPC is verified by both comparative simulation and experimental studies on distillation column control.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.1227-1233
• /
• 1993

In this paper we present the differential geometric approach for the analysis and design of sliding modes in nonlinear variable structure feedback systems. We also design the robust controller for the nonlinear system using variable structure control theory on the basis of differential geometric methods and feedback linearization applying Min-Max control based on the Lyapunov second method. The robustness against parameter uncertainties for robot manipulators with flexible joint is considered. Simulation results are presented and show the advantage of the proposed nonlinear control method.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1492-1495
• /
• 1996

In this paper, an approach to autopilot design based on the robust nonlinear dynamic inversion method is proposed. Both unknown parameters and uncertainty bounds are estimated and parameter estimates are used in the fast inversion. Furthermore, to get more robustness slow inversion is incorporated with MRAC(Model Reference Adaptive Control) and sliding mode control where the estimates of uncertainty bounds are used. The proposed method is applied to the pitch autopilot design of a missile system and excellent performance is shown via computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1504-1508
• /
• 1996

In this paper, we derive dynamic equation of helicopter and design controller based on variable structure system. It is difficult to control helicopter because it has non-linear coupling between input and output of system and is MIMO system. The design of control law is considered here using variable structure methodology giving the robustness to parameter variations and invariance to some subsets of external disturbance. However we derive dynamic equations of helicopter and design stabilizing variable structure controller. Also, simulation results are given in this paper.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.852-855
• /
• 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.

• Proceedings of the KIEE Conference
• /
• 2004.07e
• /
• pp.33-36
• /
• 2004

In this paper, a new estimation algorithm for the rotor speed for SRM drives is described. The algorithm is implemented by the sliding mode observer. The stability and robustness of the sliding observer for the parameter variations of the SRM are proved by variable structure control theory. Variable speed control of the SRM is accomplished by the estimated speed. Experiment results verify that the sliding mode observer is able to estimate the speed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.133.2-133
• /
• 2001

This paper focuses on the feasibility of fuzzy logic control for networked control systems. In order to evaluate its feasibility, a networked control system for motor speed control is implemented on a Profibus-DP network. The NCS consists of several independent, but interacting processes running on two separate stations. By using this NCS, the network delay is analyzed to find the cause of the delay. Furthermore, in order to prove the feasibility, the fuzzy logic controllers performance is compared with those of conventional PID controllers. Based on the experimental results, the fuzzy logic controller can be a viable choice for NCS due to its robustness against parameter uncertainty.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.92.1-92
• /
• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.80.2-80
• /
• 2002

The problem of sound source localization is to determine the position of sound sources using the measurement of the acoustic signals received by microphones. To develop a good sound source localization system which is applicable to a mobile platform such as robots, a time delay estimator with low computational complexity and robustness to background noise or reverberations is necessary. In this paper, an explicit adaptive time delay estimation method for a sound source localization system is proposed. Proposed explicit adaptive time estimation algorithm employs direct adaptation of the delay parameter using a transform-based optimization technique, rather than...