• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.8
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• pp.708-714
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• 1990

This paper has proposed a self-tuning controller for tracking reference trajectory by measuring End-point of arm on robot manipulator whose link is light and flexibls, and proved the perforformance of the algorithm proposed through the computer simulation. As an object of control, a flexible robot manipulator with two-links was selected. As for structure of model, it utilized an assume mode shape method with include travity force and derived a dynaics equation by adapting two kinds of vibration mode of each.

• Journal of the Korean Institute of Telematics and Electronics
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• v.22 no.5
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• pp.75-82
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• 1985

The fuel pump system is developed with the Model Reference Adaptive Control (M.R.A.C.) algorithm based on the Weight Least Square (W.L.S.) algorithm for the parameter Identification and the one step ahead dead-beat control with the reference model. The value of some parameters as the sampling period 7, the weighting coefficient L, and the State Variable Filter (5.V,F.) coefficient f which a(fects the system performance are selected through computer simulation. For the variation of the plante dynamics rspecially due to the change of the fuel viscosity with the ambient temperature condition, the adaptability of the control system is studied in the case of regulation and tracking.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.115-126
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• 1996

In the time optimal control problem, bang-bang control has been used becaese it is the theoretical time minimum solution. However, to improve tracking speed performance in the time optimal control, it is important to select a switching point accurately which makes the velocity zero near the target track. But it is not easy to select the swiching point accurately because of the damping coefficient variation and uncertainties of modeling an actual system. The Adaptive model following control(AMFC) is implemented to relieve the difficulty and inconvenience of this task. The AMFC and make the controlled plant follow as closely as possible to a desired reference model whose switching point can be calculated easily and accurately, assuring the error between the states of the reference model and those of the controlled plant appoaches zero. The hybrid control method composed of AMFC and PID is applied to a tracking actuator of the magneto optical disk drive(MODD) in random access devices to improve its slow tracking performance. According to the simulaion and experimental results, the average tracking time as small as 20ms is obtained for a 3.5 magneto-optical disk drive. The AMFC also can be applied for other random access devices to improve the average tracking performance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.4
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• pp.309-318
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• 1991

In this paper, the integrator used to reduce the error between the reference signal and response, and DC motor are constructed by bond graph. Then the model following servo controller which have the high adaptation with respect to inertia, disturbance and/or load variation in the speed control system of DC motor is designed by the bond graph, and then the usefullness of this modeling method is confirmed in operating analysis and design on controller.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.99-106
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• 2003

A new reconfigurable model following flight control method based on direct adaptive scheme is presented. Using the timescale separation principle, both the inner-loop and the outer-loop states are controlled simultaneously. For the timescale separation assumption to be satisfied, the inner-loop model dynamics is set to be fast whereas the outer-loop model dynamics is set to be relatively slow. The stability and convergence of the proposed control law is proved by Lyapunov theorem. One of the merits of the proposed reconfigurable controller is that the FDI process and the persistent input excitation are not necessary, which is suitable for the flight control system. To evaluate the reconfiguration performance of the proposed control method, numerical simulation is performed using six degree-of-freedom nonlinear dynamics.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.125-130
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• 2001

This paper presents an indirect field-oriented (IFO) induction motor position servo drives which uses the model following adaptive controller with the artificial neural network(ANN)-based rotor resistance estimator. The model reference adaptive system(MRAS)-based 2-layer ANN estimates the rotor resistance on-line and a linear model-following position controller is designed by using the estimated the rotor resistance value. At the end, a fuzzy logic system(FLS) is added to make the position controller robust to the external disturbances and the parameter variations. The simulation results show the effectiveness of the proposed method.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.9 no.1
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• pp.54-62
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• 1995

This paper is a study on a speed control of an induction motor used the MRA-DSM(Mode1 Reference Adaptive-Discrete Sliding Mode) controller. In this paper, when controls motor speed, DSM algorithm is proposed for having Robustness against disturbance and parameter variation. and it is also proposed MRA-DSM including the additional load model reference algorithm, which can be compensated the discontinuous control imputs at sliding mode and followed the model Preference independent of parameter variation of control subjects. The control system is composed of the parallel processing control system using the microprocessor for maximizing the performance of control systems and the real time processing. Also it simplifies the hardware composed of controlling the system by software and improves the reliability of the system. And while MRA-DSM control, faster response characteristics of 27.2 % is obtained than DSM control.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of Aerospace System Engineering
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• v.11 no.1
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• pp.14-21
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• 2017

A Linear parameterized Sigma-Pi neural network (SPNN) is applied to a tilt-duct unmanned aerial vehicle (UAV) which has a very large longitudinal stability ($C_{L{\alpha}}$). It is uncontrollable by a proportional, integral, derivative (PID) controller due to heavy stability. It is shown that the combined inner loop and outer loop of SPNN controllers could overcome the sluggish longitudinal dynamics using a method of dynamic inversion and pseudo-control to compensate for reference model error. The simulation results of the way point guidance are presented to evaluate the performance of SPNN in comparison to a PID controller.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.60-63
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• 1988

An adaptive model following controller is designed using the theory of variable structure systems. The proposed method allows the designer to satisfy the requirements of short sliding plane reaching time and chattering reduction in the sliding mode. This method is based on the modified condition for the sliding mode. The result of computer simulation shows that state trajectories reach switching plane fast and chattering is reduced.