• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.652-654
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• 1999

This paper presents approaches to the control of the DVD(Digital Video Disk) system using DSP(Digital Signal Processor) in order to improve the precision and robustness. To improve the performance of the Pick-Up servo actuator of the digital video drive, the tracking and focusing servo control algorithms is applied to this system. Simulation results show the performance of the robust control algorithm applied the pick-up servo system comparing to the linear controller.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.156-160
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• 1993

This paper presents a controller design to coordinate a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme is applied. Since parameters of the robot manipulators such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters works as a disturbance force. To identify the unknown parameters, an inproved adaptive control algorithm is directly derived from a chosen Lyapunov's function candidate based on the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing force coming from the difference between th actual and the estimated system parameters. Numerical examples are shown using three degree-of-freedom planar arm.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.27-33
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• 2005

The purpose of this research is to improve the reliability of automobile navigation system that utilizes the magnetic compass for localization. On account of its sensitiveness against the dynamic external interference of the magnetic field, the electronic compass itself is not accurate enough to be used for the localization compared to the gyro-compass. To overcome this shortcoming, in this research, a robust electronic compass is designed by using two magnetic compasses to cancel out the dynamic interences efficiently. That is, a dual compass predictive calibration algorithm against irregular external interference of magnetic field is newly proposed and implemented in this paper. When the dynamic interference can be eliminated from the electronic compass, it becomes much accurate than the gyro-based system that suffers from the accumulative drift error. The reliability and performance of the designed system have been verified through the real driving experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.579-582
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• 2015

The Mean-Shift is a robustness algorithm that can be used for tracking the object using the similarity of histogram distributions of target model and target candidate. However, Mean-shift using hue information has disadvantage of tracking a wrong target when the target and background has similar hue distributions. We then propose a robust Mean-Shift tracking algorithm using new image that combined upper 4bit-planes in hue and saturation, respectively.

• Journal of Electrical Engineering and information Science
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• v.3 no.1
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• pp.58-66
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• 1998

A continuous, accurate, and robust variable structure tracking controller(CVSTC) is designed for brushless direct drive servo motors(BLDDSM). Although conventional variable structure controls can give the desired tracking performances, there exists an inevitable chattering problems in control input which is undesirable for direct drive systems. With the presented algorithm, not only the chattering problems are removed by using the efficient compensation of the disturbance observer, but also the prescribed tracking trajectory can be obtained using the sliding dynamics when an initial of the desired trajcetory is different from that of a BLDDSM. The design of the sliding mode tracking controller for the prescribed, accurate, and robust tracking performance without the chattering problem is given based on the results of the detailed stability analysis. The usefulness of the suggested algorithm is demonstrated through the computer simulation for a BLDDSM under load variations.

• Proceedings of the KIEE Conference
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• 2001.05a
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• pp.116-119
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• 2001

In this paper. the robust PID controller using immune algorithm(IA) for load frequency control(LFC) is designed. In proposed method. objective function is represented as antigens. An affinity calculation is embedded within the algorithm for determining the promotion or suppression of antibody. Simulation results show that the proposed robust load frequency controller can achieve good performance even in the presence of generation rate constraints.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.404-407
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• 1992

In this thesis, the algorithm of Fuzzy Logic Control(FLC) is applied to the Nonlinear system to implement a system response. Proportional-Integral-Derivative(PID) controller is also used to control the various systems. Look-up table is applied to decide the control input, and the other look-up table is added for saving memories and inference time. Generally, FLC input variables are error(E) and error derivative($\Delta$E). In this algorithm. another Input variable error's second derivative($\Delta^2$E) is added for Robust Fine control.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.371-373
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• 1992

This note proposes a novel robust adaptive control algorithm for systems with unknown disturbances by introducing an additional term in the control input. This additional term is easily implementable by estimating the upper bound of the unknown disturbances. By this term, the output error can be made to be uniformly ultimately bounded in a desired region via Lyapunov second stability theorem when the relative degree of system is one.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.31-33
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• 2009

Face detection using AdaBoost algorithm is capable of processing images rapidly while having high detection rates. It seemed to be the fastest and the most robust and it is still today. Many improvements or extensions of this method have been proposed. However, previous approaches only deal with upright faces. They suffer from limited discriminant capability for rotated faces as these methods apply the same features for both upright and rotated faces. To solve this problem, it is necessary that we rotate input images or make independently trained detectors. However, this can be slow and can require a lot of training data, since each classifier requires the computation of many different image features. This paper proposes a robust algorithm for finding rotated faces within an image. It reduces the computational and sample complexity, by finding common features that can be shared across the classes. And it will be able to apply with multi-class object detection.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.70-72
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• 2009

In this paper, nonlinear active noise control(ANC) of a 3rd-order Volterra system, which is robust to background noise variation, is proposed along with a variable step-size Gauss-Seidel pseudo affine projection(VSSGS-PAP) algorithm. Simulation results demonstrate that the proposed approach yields better nonlinear ANC performance in a background noise variation environment, compared with the conventional methods for the nonlinear ANC.