• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.419-423
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• 1996

These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).

• 전자공학회논문지B
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• 제30B권8호
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• pp.16-22
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• 1993

As a method of separating the signal arriving from a desired direction in the presence of noise and interfering signals, a linearly constrained adaptive beamformer based on the escalator (Gram-Schmidt) structure is presented. The weights are chosen to minimize local output power subject to the response constraint. The performances of the proposed escalator adaptive beamformer are compared with those of cascade adaptive beamformer via computer simulations.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -3
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• pp.2035-2038
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• 2002

The necessity of the filter coefficients compensation for the LTJ adaptive filter was explained generally and easily by analyzing it with respect to the time-varying transform domain adaptive filter. And also the reduction method of computational complexity for filter coefficients compensation was proposed and its effectiveness was verified through experiments using artificial and real speech signals. The proposed adaptive filter reduces the computational complexity for filter coefficients compensation by 95%, and when the filter is applied to the acoustic echo canceller with 1000 taps, the total complexity is reduced by 82%

• 대한전기학회논문지
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• 제33권1호
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• pp.17-20
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• 1984

The motivation in this paper is in constructing the controller with faster adapting speed than the one using the errors between the states of the plant and the model as the adaptive criterion. In the first part of this work, the adaptive law is found by using the state errors. In the later part, the adaptive law is obtained by introducing the companion model method. Finally the justification for the adaptive speed characteristics are compared.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.48.1-48
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• 2001

In this paper, we present a global adaptive output feedback control scheme for a class of uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. The allowed output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design technique employs a change of coordinates and adaptive backstepping. With these proposed tools, we can remove linear and quadratic dependence on the unmeasured states in the state equation. Also, the multiplication of the two unmeasured states can be eliminated ...

• 한국정밀공학회지
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• 제23권7호
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• pp.24-29
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• 2006

• 전자공학회논문지
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• 제53권8호
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• pp.19-27
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• 2016

IP 네트워크에서 에너지 절약을 위한 한 가지 방안으로 적응적 버퍼링 기법을 적용한 버스트 패킷 구성 및 그의 알고리즘에 대한 연구가 진행되어 왔다. 본 논문은 IP 네트워크의 ingress 라우터에서 버스트 스트림 패킷을 구성할 때, 에너지 절약을 위한 패킷 버퍼링 구간 결정 방법에 대해 검토한다. 특히 ingress 라우터의 입력 단에서 에너지 절약 효율을 높이기 위해 버스트 스트림 패킷을 만들 때 적응적 버퍼링 구간 및 구현 기법이 요구된다. 본 논문에서는 현재 버퍼링 구간은 과거 버퍼링 구간의 입력 트래픽을 기반으로 결정하는 최선의 적응적 역함수 버퍼링 결정 방식을 제안하고, 그의 에너지 절약과 지연 특성을 시뮬레이션을 통해 분석한다. 본 논문에서 적절한 역 지수함수를 이용하여 버스트 스트림 패킷 구성을 위한 버퍼링 구간을 결정하면, 에너지 절약 효과의 개선 및 평균 지연 변이를 감소시킬 수 있음을 나타낸다. 이 방법은 다른 방법에 비해 우수한 특성을 가지고 있음을 확인한다. 그리고 제안 방법은 다양한 입력 트래픽 유형에 민감하게 반응하지 않으며, 실용적인 방법임을 나타낸다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.1085-1090
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• 1989

In this paper, an adaptive control method is presented to guarantee the ultimate boundedness of uncertain systems with partially known uncertainty bounds. This method, with a conventional linear compensator, is used to improve the performance of the trajectory tracking of a robotic manipulator with uncertainties. The proposed method is simulated under several different environments, and its performance is compared with the computed torque method. The simulation results show that the proposed method is well suited for high-performance operation of uncertain robotic systems.

• 한국정밀공학회지
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• 제24권7호
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• pp.7-12
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• 2007

• Journal of applied mathematics & informatics
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• 제19권1_2호
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• pp.165-177
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• 2005

In this paper, an adaptive trust region method based on the conic model for unconstrained optimization problems is proposed and analyzed. We establish the global and super linear convergence results of the method. Numerical tests are reported that confirm the efficiency of the new method.