• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.433-436
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• 1998

The objective of this paper is to design a adaptive fuzzy controller for autonomous navigation of mobile robot. The adaptive fuzzy controller has an advantage in data processing time and convergence speed. The basic idea of control is to induct membership function and fuzzy inference rules and to scale inducted membership function to suitable robot state. The adaptive fuzzy control method is applied to mobile robot and the simulation results show the effectiveness of our controller.

• Communications for Statistical Applications and Methods
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• 제14권1호
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• pp.57-69
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• 2007

Adaptive cluster sampling design is known as a sampling method for rare clustered population. Three modified adaptive cluster sampling designs are proposed. The adjusted Hansen-Hurwitz estimator and the Horvitz-Thompson estimator are considered. Efficiency issue of the proposed sampling designs is discussed in a Monte-Carlo simulation study.

• 제어로봇시스템학회논문지
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• 제9권6호
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• pp.420-424
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• 2003

A new adaptive filter is proposed for an aided strapdown inertial navigation system(SDINS). The proposed filter can be used to effectively estimate the time-varying variance of the measurement noise. Then, the in-flight alignment for the radar aided SDINS is designed using the additive quatermion error model. Simulation results show that the proposed adaptive filter effectively improves the performance of the radar aided SDINS.

• 대한전기학회논문지
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• 제36권9호
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• pp.685-690
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• 1987

Adaptive design of IIR digiral filters using equation error method has been studied. In this paper, a design technique of IIR digital filters using output error method with adaptive compensator is presented. In computer simulation results, it is shown that flat response characteristic in pass-band, below-40[dB] attenuation characteristic in stop-band, sharf cut-off characteristic in transition-band, and phase characteristic is linearin pass-band.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.139-144
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• 1993

In this paper, a robust reduced order adaptive controller is proposed based on Internal Model Control(IMC) structure for stochastic linear stable systems. The concept of gain margin is utilized to make the adaptive IMC controller robust. We prove the stability of the proposed adaptive IMC system for stable plants under the assumption that upper bounds for system orders are known. Simulation results show that the proposed method has good performance and stability robustness.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.453-456
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• 1996

In this paper, the direct adaptive control using neural networks is presented for the control of chaotic nonlinear systems. The direct adaptive control method has an advantage that the additional system identification procedure is not necessary. In order to evaluate the performance of our controller design method, two direct adaptive control methods are applied to a Duffing's equation and a Lorenz equation which are continuous-time chaotic systems. Our simulation results show the effectiveness of the controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.870-875
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• 1987

The payload variation and modeling error can lye parameterized in such a way that known nonlinear functions are multiplied linearly by parameter errors. An adaptive control algorithm is derived for a perturbed linear system with such parameterization. Hence, in this approach no linear approximation of robot system is needed for the application of an adaptive law. The stability of the adaptive control algorithm is established and also supported by a computer simulation result.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.706-709
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• 2005

We study the adaptive stabilization of the Van der Pol equation. A parameter update law is designed by the immersion and invariance method, and is used in conjunction with both the feedback linearization and backstepping control laws. Simulation results show that the responses obtained in the adaptive case are very similar to the known parameter case, and the parameter estimator converges to the true value.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.483-488
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• 1989

In this paper, the concept of persistent excitation(PE) is examed and the model reference adaptive control of a linear plant subjected to bounded disturbances is considered. Computer simulation reasults of nonlinear differential equations shows that the global behavior of the adaptive system depends upon the PE of the reference input as well as the amplitude of the external disturbances. The sufficient conditions on the PE of the reference input for the signals in the adaptive system to be globally bounded has been derived.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.45-49
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• 1988

This paper presents a centralized adaptive control scheme based on perturbation equations in the vicinity of a desired trajectory,which are used to design a feedback control about the desired trajectory. This adaptive control scheme reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desried trajectory. Computer simulation studies of a two-joint manipulator are performed on a IBM-PC to illustrate the performance of this adaptive control scheme.