• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.4
• /
• pp.104-109
• /
• 1997

A robust controller design to corrdinate a robot manipulator under unknown system parameters and bounded disturbance inputs is presented in this paper. Generally, robust controllers require high input torque so that they may face input saturation in actual application due to the power limitation of the actuator. To solve this problem, an improved robust controller with saturated input torque using a fuzzy logic control is proposed. Numerical examples are shown to validate the proposed controller using two degree-of-freedom planar arm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.323-328
• /
• 1998

In this paper, a new input estimation algorithm is proposed for target tracking problem. The unknown target maneuver is approximated by a linear combination of independent time functions and the coefficients are estimated by using a weighted least-squares estimation technique. The proposed algorithm is verified by computer simulation of a realistic two-dimensional tracking problem. The proposed algorithm provides significant improvements in estimation performance over the conventional input estimation techniques based on the constant-input assumption.

• Proceedings of the IEEK Conference
• /
• 2002.07b
• /
• pp.731-734
• /
• 2002

This paper presents the assessment of input impedance of a sectoral cylindrical cavity-backed slot antenna excited by a probe. This antenna is proposed to be an element of array that can be assembled to be the antenna for UHF TV broadcasting system. The integral equations are derived based on boundary conditions of the proposed structure and are expressed in terms of dyadic Green's functions and unknown currents. The unknown current densities are solved by the Method of Moments and the input impedance is derived subsequently. Numerical results show the variation of input impedance, for the specified dimensions of the antenna, as a function of frequency. This result is validated by measurement and found that the result is sufficiently accurate. The result from this study is useful for the design of a sectoral cylindrical cavity-backed slot antenna excited by a probe.

• Journal of the Korean Society of Safety
• /
• v.18 no.4
• /
• pp.169-175
• /
• 2003

In this paper, and estimation method for estimating the states of underwater vehicle systems with external unknown disturbance is proposed. First, the dynamics of underwater vehicle are induced by Taylor series expansion in the vertical plane and horizontal plane, respectively. For constructing the system model, the external efforts, i.e., the sea surface disturbances, the current, wave and etc., are regarded as external unknown disturbances. Thus the disturbance is added as external input into state-space form of underwater vehicle system. To estimate the state of systems with unknown disturbance, a disturbance observer which does not effected the external unknown input is proposed, and the existence condition for the observer is given. Finally, the effectiveness of the proposed disturbance observer for robust control of underwater vehicle systems is verified by using numerical simulation.

• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.4
• /
• pp.270-276
• /
• 2002

An integrated robust fault diagnosis and fault accommodation strategy for a class of linear stochastic systems subjected to unknown disturbances is presented under the assumption that only a single fault may occur at a given time. The strategy is based on the fault isolation and estimation using a bank of robust two-stage Kalman filters and introduction of the additive compensation input for cancelling out the fault's effect on the system. Each filter is set up such that the residual is decoupled from unknown disturbances and fault with the influence vector designed in the filter. Simulation results for the simplified longitudinal flight control system with parameter uncertainties, process and sensor noises demonstrate the effectiveness of the present approach.

• International Journal of Aeronautical and Space Sciences
• /
• v.12 no.4
• /
• pp.360-364
• /
• 2011

Backlash is common in mechanical and hydraulic systems and severely limits overall system performance. In this paper, the development of an adaptive control scheme for systems with unknown backlash is presented. An adaptive backlash inverse based controller is applied to a plant that has an unknown backlash in its input. The harmful effects of backlash are presented. Compensation for backlash by adding a discrete adaptive backlash inverse structure and the gradient-type adaptive algorithm, which provides the estimated backlash parameters, are also presented. The supposed adaptive backlash control algorithms are applied to an aircraft with unknown backlash in the actuator of control surfaces. Simulation results show that the proposed compensation scheme improves the tracking performance of systems with backlash.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.1149-1151
• /
• 1996

In the last several years, considerable attention has been focused on the problem of designing observers for linear systems with unknown inputs. Since UIO(unknown inputs observer) has the derivative of the outputs, it is very sensitive to measurement noises. Therefore this note propose an algebraic approach to UIO design to alleviate the prescribed problems. Since the proposed method has simple form to estimate state and unknown input and robustness to sensor noise, we believe that it is very attractive in practice.

• Proceedings of the KIEE Conference
• /
• 1993.07a
• /
• pp.296-298
• /
• 1993

In this paper, a new design procedure is proposed for constructing the observer for linear discrete-time systems with unknown inputs. An existence condition for the suggested observer is also presented. The observer design procedure does not use any transformation technique, augmentation technique and has a clear physical meaning, so it is easy to understand and to design the observer. It directly estimates the unknown inputs from that outputs only, so it is different from other pre-works in which the reconstruction of the unknown inputs arc performed with the additional output derivatives.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.1081-1084
• /
• 1991

A technique of indirect adaptive control based on certainty equivalence for input output linearization of nonlinear system is proven convergent by Teel. It incorporates an adaptive observer for identifying unknown system states and parameters and input-output linearizing controller for robust tracking. In this study, we show that robustness and tracking performances are improved considerably by using its normalized form of Teel's observer-based identifier. Simple examples are presented as illustration.

• Proceedings of the KSME Conference
• /
• 2003.04a
• /
• pp.1667-1671
• /
• 2003

A computer program to calculate properties of nitrogen is developed. Procedures for the calculation is briefly discussed. The program calculates unknown thermodynamic properties fixing the state with two independent input properties. If input value by user is inappropriate, it displays an error message and replaces the input value with an appropriate one. In addition user can change units with easy. The program developed in this work can be utilized to calculate parameters required for the simulation and design of an equipment using nitrogen.