• Title/Summary/키워드: control parameter

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An Adaptive Iterative Learning Control and Identification for Uncertain Robotic Systems (불확실한 로봇 시스템을 위한 적응 반복 학습 제어 및 식별)

  • 최준영
    • Journal of Institute of Control, Robotics and Systems
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    • 제10권5호
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    • pp.395-401
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    • 2004
  • We present an AILC(Adaptive Iterative Learning Control) scheme and a sufficient condition for system parameter identification for uncertain robotic systems that perform the same tasks repetitively. It is guaranteed that the joint velocity and position asymptotically converge to the reference joint velocity and position, respectively. In addition, it is proved that a sufficient condition for parameter identification is the PE(Persistent Excitation) condition on the regressor matrix evaluated at the reference trajectory during the operation period. Since the regressor matrix on the reference trajectory can be easily computed prior to the real robot operation, the proposed algorithm provides a useful method to verify whether the parameter error converges to zero or not.

The VLSI Implementation of A Usage Parameter Control based on Cell Loss Priority (셀손실 우선순위 기반의 사용 변수제어의 VLSI 구현)

  • 권재우;조태경;최명렬
    • Proceedings of the Korean Information Science Society Conference
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    • 한국정보과학회 2000년도 가을 학술발표논문집 Vol.27 No.2 (3)
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    • pp.210-212
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    • 2000
  • In this paper, we propose an enhanced usage parameter control algorithm, which is one of the preventive traffic control method in ATM networks and implemented it with VLSI Proposed algorithm is based on the cell loss priority bit in the ATM cell header. This algorithm can solve the measurement phasing problem in cell conformance testing in ATM networks. Proposed algorithm can minimize the cell loss ratio of high priority cell(CLP=0) and resolve the burstiness of cells which may be introduced in traffic multiplexing and demultiplexing procedure. The result of performance evaluation shows that the performance of proposed algorithm is better than that of ITU-T usage parameter control algorithm.

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Model Reference Adaptive Control of a Flexible Structure

  • Yang, Kyung-Jinn;Hong, Keum-Shik;Rhee, Eun-Jun;Yoo, Wan-Suk
    • Journal of Mechanical Science and Technology
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    • 제15권10호
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    • pp.1356-1368
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    • 2001
  • In this paper, the model reference adaptive control (MRAC) of a flexible structure is investigated. Any mechanically flexible structure is inherently distributed parameter in nature, so that its dynamics are described by a partial, rather than ordinary, differential equation. The MRAC problem is formulated as an initial value problem of coupled partial and ordinary differential equations in weak form. The well-posedness of the initial value problem is proved. The control law is derived by using the Lyapunov redesign method on an infinite dimensional filbert space. Uniform asymptotic stability of the closed loop system is established, and asymptotic tracking, i. e., convergence of the state-error to zero, is obtained. With an additional persistence of excitation condition for the reference model, parameter-error convergence to zero is also shown. Numerical simulations are provided.

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Self-tuning optimal control of an active suspension using a neural network

  • Lee, Byung-Yun;Kim, Wan-Il;Won, Sangchul
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.295-298
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    • 1996
  • In this paper, a self-tuning optimal control algorithm is proposed to retain the optimal performance of an active suspension system, when the vehicle has some time varying parameters and parameter uncertainties. We consider a 2 DOF time-varying quarter car model which has the parameter variation of sprung mass, suspension spring constant and suspension damping constant. Instead of solving algebraic riccati equation on line, we propose a neural network approach as an alternative. The optimal feedback gains obtained from the off line computation, according to parameter variations, are used as the neural network training data. When the active suspension system is on, the parameters are identified by the recursive least square method and the trained neural network controller designer finds the proper optimal feedback gains. The simulation results are represented and discussed.

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Output feedback model predictive control for Wiener model with parameter dependent Lyapunov function

  • Yoo, Woo-Jong;Ji, Dae-Hyun;Lee, Sang-Moon;Won, Sang-Chul
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.685-689
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    • 2005
  • In this paper, we consider a robust output feedback model predictive controller(MPC) design for Wiener model. Nonlinearities that couldn't be represented in static nonlinearity block of Wiener model are regarded as uncertainties in linear block. An dynamic output feedback controller design method is presented for Wiener MPC. According to MPC algorithm, the control law is computed based on linear matrix inequality(LMI)at each sampling time by solving convex optimization. Also, a new parameter dependent Lyapunov function is proposed to get a less conservative condition. The results are illustrated with numerical example.

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Digital Hearing Aid DSP Chip Parameter Fitting Optimization

  • Jarng, Soon-Suck;Kwon, You-Jung;Lee, Je-Hyung
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.1820-1825
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    • 2005
  • DSP chip parameters of a digital hearing aid (HA) should be optimally selected or fitted for hearing impaired persons. The more precise parameter fitting guarantees the better compensation of the hearing loss (HL). Digital HAs adopt DSP chips for more precise fitting of various HL threshold curve patterns. A specific DSP chip such as Gennum GB3211 was designed and manufactured in order to match up to about 4.7 billion different possible HL cases with combination of 7 limited parameters. This paper deals with a digital HA fitting program which is developed for optimal fitting of GB3211 DSP chip parameters. The fitting program has completed features from audiogram input to DSP chip interface. The compensation effects of the microphone and the receiver are also included. The paper shows some application examples.

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An LMI Approach to Nonlinear Sliding Surface Design (비선형 슬라이딩 평면의 설계를 위한 LMI 접근법)

  • Choi, Han-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • 제16권12호
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    • pp.1197-1200
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    • 2010
  • The problem of designing a nonlinear sliding surface for an uncertain system is considered. The proposed sliding surface comprises a linear time invariant term and an additional time varying nonlinear term. It is assumed that a linear sliding surface parameter matrix guaranteeing the asymptotic stability of the sliding mode dynamics is given. The linear sliding surface parameter matrix is used for the linear term of the proposed sliding surface. The additional nonlinear term is designed so that a Lyapunov function decreases more rapidly. By including the additional nonlinear term to the linear sliding surface parameter matrix we obtain a nonlinear sliding surface such that the speed of responses is improved. We also give a switching feedback control law inducing a stable sliding motion in finite time. Finally, we give an LMI-based design algorithm, together with a design example.

Maximum Efficiency Control of an Induction Motor Drive by Parameter Adaptive Compensation (파라미터 적응보상에 의한 유도전동기의 최대효율 제어기법)

  • Shon, Jin-Geun;Choi, Myung-Gyu;Park, Jong-Chan;Na, Chae-Dong;Lee, Sung-Bum
    • Proceedings of the KIEE Conference
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    • 대한전기학회 2000년도 학술대회 논문집 전문대학교육위원
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    • pp.162-166
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    • 2000
  • In this paper, a maximum efficiency control technique of real-time processing in which parameter variation is compensated in vector control of an induction motors(I.M.) is proposed. Based on equivalent model of I.M., a loss minimization factor(LMF) with the variations of speed is derived. To solve problem of inaccuracy of LMF curves due to machine parameter variation, rotor resistance estimation is performed by using instantaneous reactive power. The estimated rotor resistance values are applied to the maximum efficiency control with a LMF.

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VLSI implementation of Usage Parameter Control Based on Cell Loss Priority (셀손실 우선순위 기반의 사용 변수제어의 VLSI 구현)

  • 권재우;조태경;최명렬
    • Proceedings of the IEEK Conference
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    • 대한전자공학회 2000년도 추계종합학술대회 논문집(2)
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    • pp.196-199
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    • 2000
  • In this paper has studied an enhanced usage parameter control algorithm, which is one of the preventive traffic control method in ATM networks. The proposed algorithm is based on the CLP(Cell Loss Priority) bit in the ATM cell header. This algorithm can eliminate the measurement phasing problem in cell conformance testing in ATM networks. The proposed algorithm can minimize the cell loss ratio of high priority cell(CLP = 0) and resolve the burstiness of eel]s which may be generated in the multiplexing and demultiplexing procedure. For the performance evaluation, we have simulated the proposed algorithm with discrete time input traffic model and the results show that the performance of the proposed algorithm is better than that of ITU-T usage parameter control algorithm.

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A Study on the Performance Improvement of a Nonlinear Fuzzy PID Controller (비선형 퍼지 PID 제어기의 성능 개선에 관한 연구)

  • 김인환;이병결;김종화
    • Journal of Advanced Marine Engineering and Technology
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    • 제27권7호
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    • pp.852-861
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    • 2003
  • In this paper, in order to improve the disadvantages of the fixed design-parameter fuzzy PID controller. a new fuzzy PID controller named a variable design-parameter fuzzy PID controller is suggested. The main characteristic of the suggested controller is to adjust design-parameters of the controller by comparing magnitudes between fuzzy controller inputs at each sampling time when controller inputs are measured. As a result. all fuzzy input partitioned spaces converge within a time-varying normalization scale. and the resultant PID control action can always be applied precisely regardless of operating input magnitudes. In order to verify the effectiveness of the suggested controller. several a computer simulations for a nonlinear system are executed and the control parameters of the variable design-parameter fuzzy PID controller are throughly analyzed.