• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.270-276
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• 2002

An integrated robust fault diagnosis and fault accommodation strategy for a class of linear stochastic systems subjected to unknown disturbances is presented under the assumption that only a single fault may occur at a given time. The strategy is based on the fault isolation and estimation using a bank of robust two-stage Kalman filters and introduction of the additive compensation input for cancelling out the fault's effect on the system. Each filter is set up such that the residual is decoupled from unknown disturbances and fault with the influence vector designed in the filter. Simulation results for the simplified longitudinal flight control system with parameter uncertainties, process and sensor noises demonstrate the effectiveness of the present approach.

• 한국항행학회논문지
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• 제2권1호
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• pp.34-42
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• 1998

임의로 변하는 미지의 입력을 갖는 표적의 추적을 위한 적용 상태 및 입력 추정기를 설계한다. 미지의 입력을 semi-Markov 프로세스로 모델링하고, 이를 Bayesian 추정이론에 접목함으로써 여러개의 Kalman 필터가 병렬로 구성된 효과적인 적용 상태 및 입력 추정기를 구한다. 컴퓨터 모사를 통하여, 제안된 적응추정기는 임의로 변하는 미지의 입력에도 불구하고 개선된 추적성능을 보임을 확인하였다.

• International Journal of Aeronautical and Space Sciences
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• 제12권4호
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• pp.360-364
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• 2011

Backlash is common in mechanical and hydraulic systems and severely limits overall system performance. In this paper, the development of an adaptive control scheme for systems with unknown backlash is presented. An adaptive backlash inverse based controller is applied to a plant that has an unknown backlash in its input. The harmful effects of backlash are presented. Compensation for backlash by adding a discrete adaptive backlash inverse structure and the gradient-type adaptive algorithm, which provides the estimated backlash parameters, are also presented. The supposed adaptive backlash control algorithms are applied to an aircraft with unknown backlash in the actuator of control surfaces. Simulation results show that the proposed compensation scheme improves the tracking performance of systems with backlash.

• International Journal of Control, Automation, and Systems
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• 제2권4호
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• pp.530-535
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• 2004

This paper deals with the unknown input observer (UIO) design problem for a class of linear time-delay systems. A case in which the observer error can completely be decoupled from an unknown input is treated. Necessary and sufficient conditions for the existences of such observers are present. Based on Lyapunov stability theory, thedesign of the observer with internal delay is formulated in terms of linear matrix inequalities (LMI). The design of the observer without internal delay is turned into a stabilization problem in linear systems. Two design algorithms of UIO are proposed. The effect of the proposed approach is illustrated by two numerical examples.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.438-441
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• 1998

In this paper, we proposes an adaptive flux observer to estimate initial values of rotor fluxes and unknown rotor resistance. The error system between the model of induction motor and a proposed observer is devided as a fast subsystem and a slow one by a singular perturbation system. The fast subsystem is exponentially convergent on a boundary-layer. And the overall error system is reduced to a quasi-steady-state system. The adaptive law for an unknown rotor resistance is designed to stabilize the approximate error system. As computer simulation results show, the proposed adaptive flux observer estimates fast initial values of rotor fluxes and unknown rotor resistance.

• 한국태양에너지학회:학술대회논문집
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• 한국태양에너지학회 2009년도 추계학술발표대회 논문집
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• pp.130-135
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• 2009

This study investigates the need of calibrating a nodal network ventilation simulation model (CONTAMW 2.4). For this purpose, the series of ventilation experiments were conducted and then compared to simulation outputs from an uncalibrated simulation model, resulting in a significant difference between two. Hence, an optimization routine was employed to estimate unknown parameters in the simulation model. In the paper, the authors presents 1.3 unknown parameters with the validated simulation model. It was found that the model with estimated unknown parameters predicts the ventilation phenomena accurately.

• 한국지능시스템학회논문지
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• 제7권5호
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• pp.67-76
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• 1997

In this paper, a theoretical study is presented for the force control of a miniature robotic manipulator which is driven by a pair of piezo-electric bimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilevers with a force sensor at the tip and the finger is a solid beam. The robotic finger is used to hold the objects with different stiffness such as an iron block and a living insect and a moving objcet. So it is very important to develop an adequate controller for the holding operation of the finger. The main problems in force controlling are overdamping, overshoot and unknown environment(such as the stiffness of object and unknown plant parameters). So, the main target is propose the new fuzzy compensation for unknown environment and incease the system performance. The fuzzy compensation is implemented by using PI-type fuzzy approach to identified unknown environment. And the result of proposed controller was compared with the conventaional PID and optimal controller.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1149-1151
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• 1996

In the last several years, considerable attention has been focused on the problem of designing observers for linear systems with unknown inputs. Since UIO(unknown inputs observer) has the derivative of the outputs, it is very sensitive to measurement noises. Therefore this note propose an algebraic approach to UIO design to alleviate the prescribed problems. Since the proposed method has simple form to estimate state and unknown input and robustness to sensor noise, we believe that it is very attractive in practice.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.296-298
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• 1993

In this paper, a new design procedure is proposed for constructing the observer for linear discrete-time systems with unknown inputs. An existence condition for the suggested observer is also presented. The observer design procedure does not use any transformation technique, augmentation technique and has a clear physical meaning, so it is easy to understand and to design the observer. It directly estimates the unknown inputs from that outputs only, so it is different from other pre-works in which the reconstruction of the unknown inputs arc performed with the additional output derivatives.