• 대한전기학회논문지:시스템및제어부문D
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• 제50권9호
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• pp.423-429
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• 2001

This paper proposes adaptive impedance control algorithm using fuzzy inference when robot contacts with its environments. The characteristics of the adaptive impedance controller is to adapt with parametric uncertainty and nonlinear conditions. The control algorithm is to join impedance controller with fuzzy inference engine. The proposed control method overcomes the problem of impedance controller using gain-tuning algorithm of fuzzy inference engine. We implemented an experimental set-up consisting of environment-generated one-link robot system and DSP system for controller development. We apply the adaptive fuzzy impedance controller to one-link root system, and it shows the good performance on regulating the interactive force in case of contacting with arbitrary environment.

• Journal of Mechanical Science and Technology
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• 제18권7호
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• pp.1131-1139
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• 2004

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2819-2821
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• 2000

We introduce Adaptive Fuzzy Impedance Controller for force control when robot contact with environment. Because robot and environment was always effected by nonlinear conditions. it needs to deal with parameter's uncertainty. As. it induced Fuzzy system in impedance controller. it used fuzzy inference logic that has robustness about uncertainty to tune impedance controller stiffness gain. We applied adaptive fuzzy impedance controller in One-Link Robot system and the method shows a good performance on desired position and force control with intensional contacting environment.

• Journal of Power Electronics
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• 제11권4호
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• pp.599-605
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• 2011

This paper proposes a gain scheduling method that improves the stability of grid-connected systems employing an LCL-filter. The method adjusts the current controller gain through an estimation of the grid impedance in order to reduce the resonance that occurs when using an LCL-filter to reduce switching harmonics. An LCL-filter typically has a frequency spectrum with a resonance peak. A change of the grid-impedance results in a change to the resonant frequency. Therefore an LCL-filter needs a damping method that is applicable when changing the grid impedance for stable system control. The proposed method instantaneously estimates the grid impedance and observes the resonant frequency at the same time. Consequently, the proposed method adjusts the current controller gain using a gain scheduling method in order to guarantee current controller stability when a change in the resonant frequency occurs. The effectiveness of the proposed method has been verified by simulations and experimental results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.608-611
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• 2000

We introduce Adaptive Fuzzy Impedance Controller for position and force control when robot contact with environment. Because Robot and environment was always effected by nonlinear conditions, it need to deal with parameter’s uncertainty. For solving this problem, it induced Fuzzy System in Impedance Control so fuzzy system is impedance’s stiffness gain. We apply adaptive fuzzy impedance controller in One-Link Robot System, it shows the good performance on desired position control and force control about contacting with arbitrarily environment.

• Journal of Advanced Marine Engineering and Technology
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• 제18권4호
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• pp.25-32
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• 1994

This paper presents a robust impedance controller design to coordinate a robot manipulator under system uncertainties while regulating external forces. By an impedance approach, the relationship between the motion and external forces is defined. Due to the system uncertainties, two kind of sliding mode control schemes based on the impedance approach are derived to ensure that the manipulator end-effector follows a desired trajectory and the force applied to end effector is regulated according to a target impendance. A stability condition is shown according to a sliding condition. To evaluate the devised control scheme, a numerical example is shown.

• Journal of Power Electronics
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• 제18권1호
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• pp.300-308
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• 2018

An online estimation method for wireless power transfer (WPT) systems is presented without using any measurement of the secondary side or the load. This parameter estimation method can be applied with a controlling strategy that removes both the receiving terminal controller and the wireless communication. This improves the reliability of the system while reducing its costs and size. In a wireless power transfer system with an LCCL impedance matching circuit under a rectifier load, the actual load value, voltage/current and mutual inductance can be reflected through reflected impedance measuring at the primary side. The proposed method can calculate the phase angle tangent value of the secondary loop circuit impedance via the reflected impedance, which is unrelated to the mutual inductance. Then the load value can be determined based on the relationships between the load value and the secondary loop impedance. After that, the mutual inductance and transfer efficiency can be computed. According to the primary side voltage and current, the load voltage and current can also be detected in real-time. Experiments have verified that high estimation accuracy can be achieved with the proposed method. A single-controller based on the proposed parameter estimation method is established to achieve constant current control over a WPT system.

• Journal of Power Electronics
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• 제19권4호
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• pp.881-893
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• 2019

This paper proposes a practical sliding-mode controller design for shaping the impedances of cascaded boost-converter power decoupling circuits for reducing the second order harmonic ripple in photovoltaic (PV) current. The cascaded double-boost converter, when used as power decoupling circuit, has some advantages in terms of a high step-up voltage-ratio, a small number of switches and a better efficiency when compared to conventional topologies. From these features, it can be seen that this topology is suitable for residential (PV) rooftop systems. However, a robust controller design capable of rejecting double frequency inverter ripple from passing to the (PV) source is a challenge. The design constraints are related to the principle of the impedance-shaping technique to maximize the output impedance of the input-side boost converter, to block the double frequency PV current ripple component, and to prevent it from passing to the source without degrading the system dynamic responses. The design has a small recovery time in the presence of transients with a low overshoot or undershoot. Moreover, the proposed controller ensures that the ripple component swings freely within a voltage-gap between the (PV) and the DC-link voltages by the small capacitance of the auxiliary DC-link for electrolytic-capacitor elimination. The second boost controls the main DC-link voltage tightly within a satisfactory ripple range. The inverter controller performs maximum power point tracking (MPPT) for the input voltage source using ripple correlation control (RCC). The robustness of the proposed control was verified by varying system parameters under different load conditions. Finally, the proposed controller was verified by simulation and experimental results.

• Journal of Power Electronics
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• 제16권3호
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• pp.1046-1055
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• 2016

A controller to mitigate the destabilizing effect of constant power load (CPL) is proposed for a DC/DC buck-boost converter. The load profile has been considered to be predominantly of CPL type. The negative incremental resistance of the CPL tends to destabilize the feeder system, which may be an input filter or another DC/DC converter. The proposed sliding mode controller aims to ensure system stability under the dominance of CPL. The effectiveness of the controller has been validated through real-time simulation studies and experiments under various operating conditions. The controller has been demonstrated to be robust with respect to variations in supply voltage and load and capable of mitigating instabilities induced by CPL. Furthermore, the controller has been validated using all possible load profiles, which may arise in modern-day DC-distributed power systems.

• 로봇학회논문지
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• 제12권3호
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• pp.356-364
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• 2017

This paper presents a force control based on the observer without taking any force or torque measurement from the robot which allows realizing more stable and robust human robot interaction for the developed multi-functional upper limb rehabilitation robot. The robot has four functional training modes which can be classified by the human robot interaction types: passive, active, assistive, and resistive mode. The proposed observer consists of internal disturbance observer and external force observer for distinctive performance evaluation. Since four training modes can be quantitatively identified as impedance variation, position-based impedance control with feedback and feedforward controller was applied to the assistive training mode. The results showed that the proposed sensorless observer estimated cleaner and more accurate force compared to the force sensor and the impedance controller embedded with the proposed observer completed the assistive training mode safely and properly.