• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.3
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• pp.458-467
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• 1994

It has been well known that the assumption of full state availability is one of the most important restrictions to the practical realization of VSCS. And several attempts to alleviate the assumption had been made. however, it is not easy to find a positive scheme among them. Recently, an output feedback variable structure control system(OFVSCS) was proposed and the effectiveness of the scheme was validated for the disturbance free systems. The purpose of this study is to propose a robust OFVSCS that have the robust properties against process parameter variations and external disturbances by extending the basic OFVSCS and to evaluate its control performances. The ROFVSES is composed of dynamic switching function and output feedback switching control inputs that are constructed by the use of the unknown vector modeling technique. With the proposed schems, existence of sliding mode is guaranteed and any nonzero bias can be suppressed in the face of disturbances and process parameter variations as far as well-known matching condition is satisfied. Due to the fact that the ROFVSCS is driven by small number of measured informations, the practical application of VSCS for the systems with unmeasurable states and for high order systems, the conventional schemes cannot be applied, is possible with the proposed scheme. It is noticeable that the implementation cast of VSCS can be considerably reduced without sacrifice of control performances by adopting ROFVSCS since there is no need to measure the states with high measurement cost.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.1
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• pp.50-58
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• 2009

For precise tracking control of a servo system with nonlinear friction, a robust friction compensation scheme is presented in this paper. The nonlinear friction is difficult to identify the friction parameters exactly through experiments. Friction parameters can be also varied according to contact conditions such as the variation of temperature and lubrication. Thus, in order to overcome these problems and obtain the desired position tracking performance, a robust adaptive back-stepping control scheme with a dual friction observer is developed. In addition, to estimate lumped friction uncertainty due to modeling errors, a DEKF recurrent neural network and adaptive reconstructed error estimator are also developed. The feasibility of the proposed control scheme is verified through the experiment fur a ball-screw system.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1253-1256
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• 1996

In this paper, a new nonlinear feedback linearization control scheme for induction motors is developed. The control scheme employs a fuzzy nonlinear identification scheme based on fuzzy basis function expansion to adoptively compensate the parameter variations, i.e. rotor resistance, mutual and self inductance etc. An important feature of the proposed control scheme is to incorporate the sliding mode controller into the scheme to speed up convergence rate. Simulation tests show the robust behavior of the proposed controller in the presence of the parameter uncertainties of the machine.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.9
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• pp.2118-2135
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• 2012

With the rapid development of heterogeneous emerging wireless technologies and numerous types of mobile devices, the need to support robust mobile video streaming based on the seamless handover in Future Internet is growing. To support the seamless handover, several IP-based mobility management protocols such as Mobile IPv6 (MIPv6), fast handover for the MIPv6 (FMIPv6), Hierarchical MIPv6 (HMIPv6) and Proxy Mobile IPv6 (PMIPv6) were developed. However, MIPv6 depreciates the Quality-of-Service (QoS) and FMIPv6 is not robust for the video services in heterogeneous emerging wireless networks when the Mobile Node (MN) may move to another visited network in contrast with its anticipation. In Future Internet, the possibility of mobile video service failure is more increased because mobile users consisting of multiple wireless network interfaces (WNICs) can frequently change the access networks according to their mobility in heterogeneous wireless access networks such as 3Generation (3G), Wireless Fidelity (Wi-Fi), Worldwide Interoperability for Microwave Access (WiMax) and Bluetooth co-existed. And in this environment, seamless mobility is coupled according to user preferences, enabling mobile users to be "Always Best Connected" (ABC) so that Quality of Experience is optimised and maintained. Even though HMIPv6 and PMIPv6 are proposed for the location management, handover latency enhancement, they still have limit of local mobility region. In this paper, we propose a robust mobile video streaming in Heterogeneous Emerging Wireless Systems. In the proposed scheme, the MN selects the best-according to an appropriate metric-wireless technology for a robust video streaming service among all wireless technologies by reducing the handover latency and initiation time when handover may fail. Through performance evaluation, we show that our scheme provides more robust mechanism than other schemes.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1855-1866
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• 2003

This paper discusses an entire procedure for a robust controller design and its implementation of an AMB (active magnetic bearing) spindle, which is part II of the papers presenting details of system modeling and robust control of an AMB spindle. Since there are various uncertainties in an AMB system and reliability is the most important factor for applications, robust control naturally gains attentions in this field. However, tight evaluations of various uncertainties based on experimental data and appropriate performance weightings for an AMB spindle are still ongoing research topics. In addition, there are few publications on experimental justification of a designed robust controller. In this paper, uncertainties for the AMB spindle are classified and described based on the measurement and identification results of part I, and an appropriate performance weighting scheme for the AMB spindle is developed. Then, a robust control is designed through the mixed ${\mu}$ synthesis based on the validated accurate nominal model of part I, and the robust controller is reduced considering its closed loop performance. The reduced robust controller is implemented and confirmed with measurements of closed-loop responses. The AMB spindle is operated up to 57,600 rpm and performance of the designed controller is compared with a benchmark PID controller through experiments. Experiments show that the robust controller offers higher stiffness and more efficient control of rigid modes than the benchmark PID controller.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.241-246
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• 2004

This paper proposed trajectory tracking control of mobile robot. Trajectory tracking control scheme are real coding genetic-algorithm and back-propergation algorithm. Control scheme ability experience proposed simulation. Stable tracking control problem of mobile robots have been studied in recent years. These studios have guaranteed stability of controller, but the performance of transient state has not been guaranteed. In some situations, constant gain controller shows overshoots and oscillations. So we introduce better control scheme using Real coding Genetic Algorithm(RCGA) and neural network. Using RCGA, we can find proper gains in several situations and these gains are generalized by neural network. The generalization power of neural network will give proper gain in untrained situation. Performance of proposed controller will verify numerical simulations and the results show better performance than constant gain controller.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.225-228
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• 2005

According to a popularization of the Internet and digital lifestyle, digital watermarks have been proposed for protection of copyrighted multimedia content. In blind watermark detection, which an original image is not provided, robustness against geometric distortion and compression remains challenging. In this paper, we propose a new perceptual blind discrete wavelet transform - discrete Fourier transform (DWT-DFT) composite watermarking scheme that is robust against both general linear transform and JPEG compression. This algorithm constructs an image-dependent watermark in the most significant DWT coefficients, which is determined by using a hierarchical tree structure. Strength of watermark is determined from a just-noticeable difference (JND) profile of a perceptual model. Furthermore, a desired template is inserted into DFT domain of the watermarked image. In new manner, a cross-ratio of four collinear points is used for detecting the template. Experimental results have showed that the proposed scheme is robust against general linear distortion, JPEG compression and various general kinds of attacks in the Stirmark 3.1 watermark evaluation tool.

• Journal of Communications and Networks
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• v.11 no.6
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• pp.607-614
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• 2009

Recently, Lu et al. proposed an efficient conditional privacy preservation protocol, named ECPP, based on group signature scheme for generating anonymous certificates from roadside units (RSUs). However, ECPP does not provide unlinkability and traceability when multiple RSUs are compromised. In this paper, we make up for the limitations and propose a robust and efficient anonymous authentication protocol without loss of efficiency as compared with ECPP. Furthermore, in the proposed protocol, RSUs can issue multiple anonymous certificates to an OBU to alleviate system overheads for mutual authentication between OBUs and RSUs. In order to achieve these goals, we consider a universal re-encryption scheme and identity-based key establishment scheme as our building blocks. Several simulations are conducted to verify the efficiency and effectiveness of the proposed protocol by comparing with those of the existing ECPP.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.456-460
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• 1996

A nonlinear control scheme for preventing limit cycle due to the nonlinearity of themulti-step bang-bang actuator in mechanical position control systems is proposed. A linearized model, SIDF, fora multi-step bang-bang actuator is introduced to compensate the nonlinearity of the multi-step bang-bang actuator. Using that model, a $H_{\infty}$robust controller for position control systms with a bang-bang actuator is proposed by loop shaping tecniques with normalized coprime factorization stabilization to address the robustness. The proposed scheme needs a smaller deadband as a result of compensating the nonlinearity of the bang-bang actuator. A single-axis servo system is served in order to verify the proposed control scheme experimentally. Experimental results show that the controller can satisfy the special intersts, silent contact switching of the actuator.r.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.56-59
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• 1995

In this paper, we propose a new rubust design scheme of a variable structure type model reference control (VS-MRC) which can be applied to linear time-varing plants. Our idea is started from the hypothesis that the plant consists of two parts, i.e., one has time-invariant parameters and the other has time-varying parameters. We consider the former the nominal part of the plant and the latter a kind of disturbance to the nominal one. In this design scheme, the ordinary VS-MRC is adopted to the nominal part and the signum function is introduced to eliminate the influence of the disturbance.