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

• International Journal of Aeronautical and Space Sciences
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• v.10 no.1
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• pp.46-58
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• 2009

This paper deals with design procedure of online guidance and control law for future missiles that requires agile maneuverability. For the purpose, the missile with high powered side thruster is proposed. The guidance and control law for such missiles is discussed from a point of view of optimal control theory in this paper. Minimum time problem is solved for the approximated system. It is derived that bang- bang control is optimal input from the necessary conditions of optimal solution. Feedback guidance without iterative calculation is useful for actual systems. In this paper. multiple design point method is applied to design feedback gains and feed forward inputs of the guidance and control law. The numerical results show that the proposed guidance and control law has a high -performance for wide-ranging boundary conditions.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.812-814
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• 1999

In this paper, we propose a new control algorithm based on the neural network(NN) feedback compensation with a desired trajectory modification. The proposed algorithm decreases trajectory errors by a feed-forward desired torque combined with a neural network feedback torque component. And, to robustly control the tracking error, we modified the desired trajectory by variable structure concept smoothed by a fuzzy logic. For the numerical simulation, a 2-link robot manipulator model was assumed. To simulate the disturbance due to the modelling uncertainty. As a result of this simulation, the proposed method shows better trajectory tracking performance compared with the CTM and decreases the chattering in control inputs.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.03a
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• pp.49-52
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• 1998

Neural Network has good performance in pattern classification, control and many other fields by learning ability. However, there is effective rule or systematic approach to determine optimal structure. In this paper, we propose a new method to find optimal structure of feed-forward multi-layer neural network as a kind of pruning method. That eliminating redundant elements of neural network. To find redundant elements we analysis error and weight changing with Rough Set Theory, in condition of executing back-propagation leaning algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.49.1-49
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• 2001

The skin color model is a very important concept in face detection, face recognition and face tracking. Usually, this model is obtained by estimating a probability density function of skin color distribution. In many cases, it is assumed that the underlying density function follows a Gaussian distribution. In this paper, a new method for non-parametric estimation of the probability density function, by using feed-forward neural network, is used to estimate the underlying skin color model. By using this method, the resulting skin color model is better than the Gaussian estimation and substantially approaches the real distribution. Applications to face detection and face ...

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1088-1092
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• 2003

This paper presents a combined lookup table technique and PI-type controller. The purpose of the designed controller is applied to control the nonlinear system as thermal process. The proposed controller is easy and convenient to design based on a commercial controller. The performances of the proposed controller were studied using the thermal plant model under temperature control. The experimental results included demonstrate the good performance of the proposed controller.

• International Journal of Automotive Technology
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• v.7 no.5
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• pp.547-554
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• 2006

This paper is concerned with an optimal control suspension system using the preview information of road input based on a quarter car model. The main purpose of the control is to combine good vibration isolation characteristics with improved attitude control. The optimal control law is derived with the use of calculus of variation, consisting of three parts. The first part is a full state feedback term that includes integral control acting on the suspension deflection to ensure zero steady-state deflection in response to static body forces and ramp road inputs. The second part is a feed-forward term which compensates for the body forces when they can be detected, and the third part depends on previewed road input. The performance of the suspension is evaluated in terms of frequency domain characteristics and time responses to ramp road input and cornering forces. The effects of each part of the suspension controller on the system behavior are examined.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.6
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• pp.932-938
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• 2009

As a stringing troy wire is installed by manual operation, it is necessary to scheme the automatic system for stringing troy wire. To accomplish a task of this kind, in this paper an approach to designing controllers for the hybrid Position/Tension control of a stringing troy wire is presented. Position control system is designed based on equation of dc motor and motion equation of robot, it is controlled by feedback with a detected speed dc motor. Tension control system is designed based on equation of ac servomotor for generating torque and dynamic equation of a troy wire, it is controled by feedback with a detected tension. The control parameters is determined by simulation in independence operation of each system. To suppress a mutual interference that the disturbance occur in operating of two task at same time. Dynamic hybrid control is proposed by feed forward compensator with a disturbance accelerator and a step torque at start. The operation of proposed system is simulated and experimented, results is verified the utilities.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.89-96
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• 2003

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear abetments, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable but also accurate trajectory control for the autonomous assembly tasks using hydraulic manipulators. In this report, we propose a two-degree-of-freedom control including parallel feedforward compensator (PFC) where PFC plays a very important role in the stability of a proposed control system. In the experimental results of the 6-link electro hydraulic manipulator, it is verified that the stability and the model matching performance are improved by using the proposed control method.

• The Transactions of the Korean Institute of Power Electronics
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• v.21 no.4
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• pp.364-372
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• 2016

In this paper, a voltage controller for the seamless transition of a grid-connected inverter for ESS is proposed. The single-phase inverter is operated as a current controller when the grid is connected and as a voltage controller in the stand-alone mode when the grid is disconnected. Generally, in the case of grid recovery, the overcurrent may flow into the system because of the mismatch phase between the inverter output and grid voltages. The proposed controller resolves the overcurrent problem through phase delay problems with initial value feed-forward control of the integrator when the grid voltage is restored. The effects of the control method are simulated through PSIM, and the usefulness of the control method is verified through experiments.