• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.5
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• pp.58-64
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• 1994

In this paper, a robust control scheme of a nonlinear system with norm bounded uncertainty is studied. The proposed algorithm is based on variable structure systems (VSS) theory. the sliding mode which is robust to plant uncertainty and disturbances is obtained by regulating a sliding surface equation. This VSS control law can improve the robustness of control systems by adjusting the minimum reaching velocity in a reaching phase. A numerical example is given to verify the effectiveness of the control law.

• Journal of Electrical Engineering and information Science
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• v.3 no.1
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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.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.737-738
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• 2008

An implementation of robust stereo matching algorithm under variable illumination conditions is presented in this paper. By applying window-based matchingmethod to global stereo matching algorthm using belief propagation, our implemented system shows low error rate and could efficiently cope with general radiometric disimilarities between images acquired from two different point of views.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.33.3-33
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• 2001

This paper considers a fault detection and diagnosis using estimation method in uncertain systems. In the state estimation method, we use the robust H$\infty$ FIR filtering algorithm. A novel aspect of the fault detection technique described here is that it explicitly accounts for the effects of simplified models and errors due to the linearization of nonlinear systems at an operating point.

• Proceedings of the IEEK Conference
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• 2003.11a
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• pp.469-472
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• 2003

Skew is inevitably occurred in a scanned document image Thus, character recognition systems are generally very sensitive to a skew angle. In this paper, we propose a robust slant correction algorithm based on dithering and estimating vortical transition. Character strings are segmented by projecting the vertical transition point and the slant corrected image. The segmentation method using the vertical transition point can effectively split the character strings touching vertically each other. Experimental results show that the proposed method has achieved robust slant correction and good performance of character string segmentation.

• Proceedings of the Acoustical Society of Korea Conference
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• 1998.08a
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• pp.470-474
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• 1998

In this paper, to estimate the time-varying parameters of speech signal, we use the robust sequential estimator based on t-distribution and, for time-varying signal, introduce the forgetting factor. By using the RSE based on t-distribution with small degree of freedom, we can alleviate efficiently the effects of outliers to obtain the better performance of parameter estimation. Moreover, by the forgetting factor, the proposed algorithm can estimate the accurate parameters under the rapid variation of speech signal.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.203-207
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• 1992

In this paper, a new GPC(Generalized Predictive Control) algorithm which is robust to disturbances isproposed. This controller minimizes the LQ cost function when the disturbance maximizes this cost function. The solution is obtained from the min-max problem which can be solved by differential game theory and has the non-recursive form which does not use the Riccati equation. Its another solution for state space models is investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1424-1429
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• 1990

This paper presents an indirect adaptive control scheme for discrete linear systems whose parameters are not necessrily slowly varying. It is assumed that system parameters are modelled as linear combinations of known bounded functions with unknown constant coefficients. Unknown coefficients are estimated using a recursive least squares algorithm with a dead zone and a forgetting factor. A control law which makes the estimated model exponentially stable is constructed. With this control law and a state observer, all based on the parameter estimates, it is shown that the resulting closed-loop system is globally stable and robust to bounded external disturbances and small unmodelled plant uncertainties.

• Proceedings of the KSPS conference
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• 2006.05a
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• pp.45-48
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• 2006

As the speech recognition systems are used in many emerging applications, robust performance of speech recognition systems under extremely noisy conditions become more important. The voice activity detection (VAD) has been taken into account as one of the important factors for robust speech recognition. In this paper, we investigate conventional VAD algorithms and analyze the weak and the strong points of each algorithm.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.18-20
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• 2006

The statistics for the neighbor differences between the particular pixels and their neighbors are introduced. They are incorporated into the filter to remove additive Gaussian noise contaminating images. The derived denoising method corresponds to the maximum likelihood estimator for the heavy-tailed Gaussian distribution. The error norm corresponding to our estimator from the robust statistics is equivalent to Huber's minimax norm. Our estimator is also optimal in the respect of maximizing the efficacy under the above noise environment.