• Proceedings of the IEEK Conference
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• 2000.07b
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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.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.4
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• pp.239-246
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• 2003

Application of the filtered-x Least Mean Square(LMS) adaptive filter to active noise control requires to estimate the transfer characteristics between the output and the error signal of the adaptive controller. In this paper, we derive the filtered-x adaptive noise control algorithm and analyze its convergence behavior when the acoustic noise consists of multiple sinusoids. The results of the convergence analysis of the filtered-x LMS algorithm indicate that the effects of the parameter estimation inaccuracy on the convergence behavior of the algorithm are characterized by two distinct components Phase estimation error and estimated gain. In particular, the convergence is shown to be strongly affected by the accuracy of the phase response estimate. Simulation results are presented to support the theoretical convergence analysis.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1775-1776
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• 2008

This paper presents a adaptive fuzzy control suitable for motion control of multi-link robot manipulators with uncertainties. When joint velocities are available, full state adaptive fuzzy feedback control is designed to ensure the stability of the closed loop dynamic. If the joint velocities are not measurable, an observer is introduced and an adaptive output feedback control is designed based on the estimated velocities. To reduce the number of fuzzy rules of the fuzzy controller, we consider the properties of robot dynamics and the decomposition of the unknown input gain matrix. The proposed controller is robust against uncertainties and external disturbances. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.584-596
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• 2019

This paper presents a Modified Adaptive Complementary Sliding Mode Control (MACSMC) system for the longitudinal motion control of the Fully-Submerged Hydrofoil Craft (FSHC) in the presence of time varying disturbance and uncertain perturbations. The nonlinear disturbance observer is designed with less conservatism that only boundedness of the derivative of the disturbance is required. Then, a complementary sliding mode control system combined with adaptive law is designed to reduce the bound of stabilization error with fast convergence. In particularly, the modified complementary sliding mode surface which contains the estimation of the disturbance can reduce the switching gain and retain the normal performance of the system. Moreover, a hyperbolic tangent function contained in the control law is utilized to attenuate the chattering of the actuator. The global asymptotic stability of the closed-loop system is demonstrated utilizing the Lyapunov stability theory. Ultimately, the simulation results show the effectiveness of the proposed approach.

• Journal of Advanced Navigation Technology
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• v.13 no.6
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• pp.813-819
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• 2009

Designing actuator controllers of aircraft, which control aileron, flap, elevator and so on, is quiet difficult, because they have time variant nonlinear mechanical structures and also have many kinds of disturbances which are not been able to model easily. This paper reports about the performance of Fuzzy Auto gain tuning Control algorithm applied unmaned aerial vehicle. Fuzzy Auto gain tuning PID control uses PID control and Fuzzy control, therefore It can be applied very easily and it also has advances of PID control. It can control a unmaned aerial vehicle actuators adaptively even though the designer does not have enough information of plant.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.617-621
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• 2012

This paper studies asymptotic consensus problem for linear multi-agent systems. We propose a distributed state feedback control algorithm for solving the problem under fixed and undirected network communication. In contrast with the conventional algorithms that use global information (e.g., graph connectivity), the proposed algorithm only uses local information from neighbors. The principle for achieving asymptotic consensus is that, for each agent, a distributed update law gradually increases the coupling gain of LQR-type feedback and thus, the overall stability of the multi-agent system is recovered by the gain margin of LQR.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.5
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• pp.99-107
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• 2003

In a winding process, important control specifications include regulation of web tension and velocity. In this research, an adaptive controller has been developed for controlling web tension and velocity in winding processes. For the controller design, the linear quadratic regulator theory has been adopted and a gain-scheduling scheme has been incorporated. A prototype winding system has been constructed, and the controller has been implemented in a real-time PC-based environment. The performance of the closed loop system has been evaluated via simulation and experiments, and it was observed that both the web tension and velocity could be regulated within a small tolerance.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.6
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• pp.241-251
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• 2002

The effect of sensor faults in direct torque control(DTC) based induction motor drives is analyzed and a new Instrument fault detection isolation scheme(IFDIS) is proposed. The proposed IFDIS, which operated in real-time, detects and isolates the incipient fault(s) of speed sensor and current sensors that provide the feedback information. The scheme consists of an adaptive gain scheduling observer as a residual generator and a special sequential test logic unit. The observer provides not only the estimate of stator flux, a key variable in DTC system, but also the estimates of stator current and rotor speed that are useful for fault detection. With the test logic, the IFDIS has the functionality of fault isolation that only multiple estimator based IFDIS schemes can have. Simulation results for various type of sensor faults show the detection and isolation performance of the IFDIS and the applicability of this scheme to fault tolerant control system design.

• Journal of Biomedical Engineering Research
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• v.28 no.2
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• pp.199-204
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• 2007

In digital radiography, to improve the contrast of digital radiography image, the multi-scale nonlinear amplification algorithm based on unsharp masking is one of the major image enhancement algorithms. In this paper, we used the Laplacian pyramid to decompose a digital radiography(DR) image. In our simulation, the DR image was decomposed into seven layers and the coefficients of the each layer was amplified with nonlinear function. We also imported a noise containment algorithm to limit noise amplification. To enhance the contrast of image, we proposed a new adaptive non-linear gain amplification coefficients. As a result of having applied to some clinical data, a detail visibility was improved significantly without unacceptable noise boosting. Images that acquired with the proposed adaptive non-linear gain coefficients have shown superior quality to those that applied similar gain control method and expected to be accepted in the clinical applications.

• The Journal of the Acoustical Society of Korea
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• v.34 no.5
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• pp.403-409
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• 2015

In this paper, we propose Packet Loss Concealment (PLC) method using adaptive signal scale estimation for performance improvement of G.711 PLC. The conventional method controls a gain using 20 % attenuation factor when continuous loss occurs. However, this method lead to deterioration because that don't consider the change of signal. So, we propose gain control by adaptive signal scale estimation through before and after frame information using Least Mean Square (LMS) predictor. Performance evaluation of proposed algorithm is presented through Perceptual Evaluation of Speech Quality (PESQ) evaulation.