• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.130-135
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• 2001

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed on this paper is stable. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

• Structural Engineering and Mechanics
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• 제3권4호
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• pp.391-410
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• 1995

The application of adaptive finite element method to dynamic problems is investigated. Both the kinetic and strain energy errors induced by space and time discretization were estimated in a consistent manner and controlled by the simultaneous use of the adaptive mesh generation and the automatic time stepping. Also an optimal ratio of spatial discretization error to temporal discretization error was discussed. In this study it was found that the best performance can be obtained when the specified spatial and temporal discretization errors have the same value. Numerical examples are carried out to verify the performance of the procedure.

• Earthquakes and Structures
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• 제14권5호
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• pp.477-492
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• 2018

Recently, the adaptive nonlinear static analysis method has been widely used in the field of performance based earthquake engineering. However, the proposed methods are almost deterministic and cannot directly consider the seismic record uncertainties. In the current study an innovative Stochastic Adaptive Pushover Analysis, called "SAPA", based on equivalent hysteresis system responses is developed to consider the earthquake record to record uncertainties. The methodology offers a direct stochastic analysis which estimates the seismic demands of the structure in a probabilistic manner. In this procedure by using a stochastic linearization technique in each step, the equivalent hysteresis system is analyzed and the probabilistic characteristics of the result are obtained by which the lateral force pattern is extracted and the actual structure is pushed. To compare the results, three different types of analysis have been considered; conventional pushover methods, incremental dynamic analysis, IDA, and the SAPA method. The result shows an admirable accuracy in predicting the structure responses.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2362-2367
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• 2005

This paper reports a technique for discriminating double talk and echo path change using the stochastic characteristics of power change for an adaptive noise canceller. The causes of rapid error increasing are double talk and echo path change. When the echo path is changed, the system corrects the impulse response in order to reduce the error. However, in the case of double talk, the system has to suspend the updating impulse response in order to maintain the quality of the voice signal. In the conventional system, it was difficult to discriminate between the two situations. In this research, the stochastic characteristics of the voice power change in the double talk period were experimentally verified to be different from the power change during echo path changing. Based on the results, a new double talk detection method is proposed.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1103-1109
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• 2008

Since the flexible joint robots with motor dynamics are represented by the fifth-order nonlinear sγstem, it is difficult and complex to design the controller for electrically driven flexible-joint (EDFJ) robots. In this paper, we propose a simple adaptive control method to solve this problem. It is assumed that the model uncertainties of the robots dynamics, joint flexibility, and motor dynamics are unknown. For the simple control design, the dynamic surface design method is applied, and all uncertainties in the robot and motor dynamics are compensated by using the adaptive function approximation technique. It is proved that all signals in the controlled closed-loop system are uniformly ultimately bounded. Simulation results for three-link EDFJ manipulators are provided to validate the effectiveness of the proposed control system.

• 대한전자공학회논문지
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• 제26권10호
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• pp.1488-1497
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• 1989

In this paper, a new adaptive control scheme is proposed that uses a special form of rational function-type linear operator in the parameter adaptation and that removes the augmenting signal terms of the control input components. This adaptation scheme is applied to the MRAC of continuous-time, linear time-invariant, minimum-phase plants whose relative degrees are arbitrary. This scheme can be applied without any change of the controller structure to the adaptive systems regardless of the relative degree if it is greater than 1. And this scheme does not require any signal augmentation for arbitrary relative-degree plants if the reference model has no zeros. The asymptotic stability of the adaptive systems controlled by this scheme is shown by a hyper-stability method.

• Journal of Computational Design and Engineering
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• 제2권1호
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• pp.1-15
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• 2015

Measured bidirectional reflectance distribution function (BRDF) data have been used to represent complex interaction between lights and surface materials for photorealistic rendering. However, their massive size makes it hard to adopt them in practical rendering applications. In this paper, we propose an adaptive method for B-spline volume representation of measured BRDF data. It basically performs approximate B-spline volume lofting, which decomposes the problem into three sub-problems of multiple B-spline curve fitting along u-, v-, and w-parametric directions. Especially, it makes the efficient use of knots in the multiple B-spline curve fitting and thereby accomplishes adaptive knot placement along each parametric direction of a resulting B-spline volume. The proposed method is quite useful to realize efficient data reduction while smoothing out the noises and keeping the overall features of BRDF data well. By applying the B-spline volume models of real materials for rendering, we show that the B-spline volume models are effective in preserving the features of material appearance and are suitable for representing BRDF data.

• Journal of Communications and Networks
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• 제7권3호
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• pp.258-262
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• 2005

An adaptive beamforming system based on code filtering and differential correlation approaches is proposed. The differential correlation method was originally proposed for time delay estimation of direct sequence code division multiple access (DS-CDMA) systems under near-far ratio conditions and the code filtering correlation algorithm, on the other hand, was proposed for array response estimation in DS-CDMA systems under perfect power control. In this paper, by combining differential correlation concept with the code filtering beamforming technology, an accurate estimate of the beam forming weights and an enhanced performance of DS-CDMA systems under sever near-far ratio conditions is achieved. The system performance in terms of beam pattern and bit-error-rate (HER) shows that the proposed adaptive beamformer outperforms the conventional code filtering correlation technique.

• 전자공학회논문지SC
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• 제41권4호
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• pp.1-12
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• 2004

본 논문에서는 적응 퍼지 백스테핑 알고리즘을 이용하여 단일축 유연관절 로봇을 제어하는 새로운 알고리즘을 제안한다. 퍼지시스템은 일반근사기로 사용하여 로봇과 제어기의 비선형성과 불확실성을 상쇄하는 역할을 한다. 제안한 알고리즘은 추가적인 교시 제어기를 필요로 하지 않으며 추적오차를 상시유계시키는 특성이 있다. 끝으로 컴퓨터 모의실험을 통하여 제안한 방식의 성능을 확인한다.

• 전기학회논문지P
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• 제57권3호
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• pp.250-254
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• 2008

Robot actuators are significantly important with respect to whole control system performance. This paper presents an adaptive control approach for flexible robot actuators with time-varying spring and damping nature. We first represent a perturbed system model with assumption that its information are partially known. Nominal model reference control method is employed for deriving our adaptive control law. We carry out numerical simulation to evaluate the proposed control system and compare simulation results to a well-known control method for demonstrating its effectiveness.