• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10b
• /
• pp.7-12
• /
• 1993

This paper presents a generalized truncated least, squares adaptive algorithm and a two-stage design method. The proposed algorithm is directly derived from the normal equation of the generalized truncated least squares method (GTLSM). The special case of the GTLSM, the truncated least squares (TLS) adaptive algorithm, has a distinct features which includes the case of minimum steps estimator. This algorithm seemed to be best in the deterministic case. For real applications in the presence of disturbances, the GTLS adaptive algorithm is more effective. The two-stage design method proposed here combines the adaptive control system design with a conventional control design method and each can be treated independently. Using this method, the validity of the presented algorithms are examined by the simulation studies of an indirect adaptive control.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.741-746
• /
• 2004

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• Journal of Korean Institute of Industrial Engineers
• /
• v.38 no.3
• /
• pp.173-181
• /
• 2012

The size and layout of user interface components need to be optimally designed in terms of reachability, visibility, clearance, and compatibility in order for efficient and effective use of products. The present study develops an ergonomic design method which optimizes the size and layout of user interface components using adaptive genetic algorithm. The developed design method determines a near-optimal design which maximizes the aggregated score of 4 ergonomic design criteria (reachability, visibility, clearance, and compatibility). The adaptive genetic algorithm used in the present study finds a near-optimum by automatically adjusting the key parameter (probability of mutation) of traditional genetic algorithm according to the characteristic of current solutions. Since the adaptive mechanism partially helps to overcome the local optimality problem, the probability of finding the near-optimum has been substantially improved. To evaluate the effectiveness of the developed design method, the present study applied it to the user interface design for a portable wireless communication radio.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.4
• /
• pp.596-606
• /
• 2008

In this paper, we present a co-design methodology of dynamic optimal network-bandwidth allocation (ONBA) and adaptive control for networked control systems (NCSs) to optimize overall control performance and reduce total network-bandwidth usage. The proposed dynamic co-design strategy integrates adaptive feedback control with real-time scheduling. As part of this co-design methodology, a "closed-loop" ONBA algorithm for NCSs with communication constraints is presented. Network-bandwidth is dynamically assigned to each control loop according to the quality of performance (QoP) information of each control loop. As another part of the co-design methodology, a network quality of service (QoS)-adaptive control design approach is also presented. The idea is based on calculating new control values with reference to the network QoS parameters such as time delays and packet losses measured online. Simulation results show that this co-design approach significantly improves overall control performance and utilizes less bandwidth compared to static strategies.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2540-2545
• /
• 2003

We propose a new technique to the design and real-time implementation of an adaptive controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot consisting of two 4-d.o.f. robots at the joint space and cartesian space.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.11
• /
• pp.510-513
• /
• 2002

In this paper, the robust adaptive controller design scheme is studied for nonlinear systems in the presence of bounded disturbances A new robust adaptive controller is designed using high-order neural networks, which avoids the singularity problem in adaptive nonlinear control. The stability of the resulting adaptive system with the proposed adaptive controller si guaranteed by suitably choosing the design parameters and initial conditions. I addition, the proposed adaptive controller provides improved transient performance and fast on-line adaptation. The ability and effectiveness of the proposed adaptive control scheme is shown trough simulations of a simple nonlinear system.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.10 no.5
• /
• pp.258-265
• /
• 1985

A design method for a single-input single-output discrete time model reference adaptive system is described in this paper. By using the state-variable filters into inputs and outputs in reference model and unknown system, a simple adaptive structure which use all accessible signals can be constructed. Some papers for the adaptive shstem is which thw relative degree of unknown system have one or two have been reported, but the resulting adaptive system are intricate in structures and the design theories for the model reference adaptive system are not generalized. In this paper, for having two or more relative degrees, it has been verified that an adaptive scheme can be obtained by introducing a simple linear filter.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.590-593
• /
• 2005

Unmanned Helicopter has several abilities such as vertical Take off, hovering, low speed flight at low altitude. Such vehicles are becoming popular in actual applications such as search and rescue, aerial reconnaissance and surveillance. These vehicles also used under risky environments without threatening the life of a pilot. Since a small unmanned helicopter is very sensitive to environmental conditions, it is generally known that the flight control is very difficult problems. The nonlinear adaptive fuzzy controller design procedure and its applications for altitude control of unmanned helicopter were described in the paper. This research was concentrated on describing the design methodologies of altitude controller design for small unmanned helicopter acquiring autonomous take off and vertical movement. The design methodologies and performance of the altitude controller were simulated and verified with an adaptive fuzzy controller. Throughout simulation results, I showed that the proposed adaptive controllers have enhanced control performance such as robustness, effectiveness and safety, in the altitude control of the unmanned helicopter.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.36 no.9
• /
• pp.685-690
• /
• 1987

Adaptive design of IIR digiral filters using equation error method has been studied. In this paper, a design technique of IIR digital filters using output error method with adaptive compensator is presented. In computer simulation results, it is shown that flat response characteristic in pass-band, below-40[dB] attenuation characteristic in stop-band, sharf cut-off characteristic in transition-band, and phase characteristic is linearin pass-band.

• Journal of Positioning, Navigation, and Timing
• /
• v.8 no.1
• /
• pp.19-29
• /
• 2019

This paper analyzes the design factors for GNSS anti-jamming receiver system in which the adaptive beamforming algorithm is applied in GNSS receiver system. The design analysis factors used in this paper are divided into three: antenna, beamforming algorithm, and operation environment. This paper analyzes the above three factors and presents numerical simulation results on antenna and beamforming algorithm.