• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.963-968
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• 1990

An iterative learning control scheme for tracking control of a class of uncertain nonlinear systems is presented. By introducing a model reference adaptive controller in the learning control structure, it is possible to achieve zero tracking of unknown system even when the upperbound of uncertainty in system dynamics is not known apriori. The adaptive controller pull the state of the system to the state of reference model via control gain adaptation at each iteration, while the learning controller attracts the model state to the desired one by synthesizing a suitable control input along with iteration numbers. In the controller role transition from the adaptive to the learning controller takes place in gradually as learning proceeds. Another feature of this control scheme is that robustness to bounded input disturbances is guaranteed by the linear controller in the feedback loop of the learning control scheme. In addition, since the proposed controller does not require any knowledge of the dynamic parameters of the system, it is flexible under uncertain environments. With these facts, computational easiness makes the learning scheme more feasible. Computer simulation results for the dynamic control of a two-axis robot manipulator shows a good performance of the scheme in relatively high speed operation of trajectory tracking.

• Korean Journal of Optics and Photonics
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• v.15 no.4
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• pp.337-342
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• 2004

Laser optical power stabilization of a radio frequency excited $CO_2$ slab laser using the opto-Hertzian effect generated from the laser itself is achieved on the peak of the Doppler broadened gain curve. The opto-Hertzian signal was generated by a modulation of the optical flux circulating inside the laser cavity from a variation in the cavity length caused by the vibrations of the PZT. The opto-Hertzian signal is directly coupled from a RE discharge chamber via a loop antenna into a detector and applied to a lock-in stabilizer as an reference signal. The power stability of an RF excited slab laser is estimated to be better then 0.2%.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.15-21
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• 2004

This paper deals with asymptotic stabilization problems for linear systems with time-varying input disturbances. In order to eliminate the influence of a disturbance on the system, a disturbance observer is designed and the time-varying disturbance can be rejected using its estimated value. Since the disturbance observer is kind of low-pass filter, it has inevitably estimation errors. To eliminate the inflences on the performance due to these errors, the additional control is designed based on these estimation errors using a well-known min-max control method. It is shown that the asymptotic stability of the closed-loop system is guaranteed. In general, the min-max control method requires the switching of control inputs and the switching magnitude of the control input is determined by the disturbance estimation error bounds. As the error bounds can be made arbitrarily small by choosing the high gain for the disturbance observer, the control method suggested in this paper can reduce the chattering phenomena as small as possible. Therefore, it has superior performance to the existing ones.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.998-1003
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• 2013

This study proposes an adaptive control algorithm for lateral motion of a UGV (Unmanned Ground Vehicle) using an NN (Neural Networks). The lateral motion of the UGV can be corrupted with various uncertainties such as side slip. In order to compensate the performance degradation of the UGV under various uncertainties, an NN-based adaptive control is designed by utilizing a virtual control concept. Since both the drift and input gain terms are uncertain, the proposed method adapts the whole terms related to the difference between the nominal and real systems. To avoid a singularity problem with the adaptive control, the affine property of the UGV dynamic model is utilized and the overall closed-loop stability is analyzed rigorously. Finally, numerical simulations using Carsim are performed to validate the effectiveness of the proposed scheme.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.28A no.1
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• pp.40-45
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• 1991

It is well known that the conventional differential source-coupled pair uses gates as its input terminals. This input pair provids a high open-loop gain, a large CMRR, and a good PSRR. For these reasons, the input pair has been used widely as an input stages of the differential amplifiers, but a narrow linear input range of this structurelimits its application in the area of some analog circuit design. A novel CMOS source-coupled backgate pair is proposed in this paper. The bulk of MOSFET is exploited and input devices are biased to operate in ohmic region. With this topology, the backgate pair of the wide linear input range and variable transconductance can be obtained. This backgate input differential stage is realized with the size of W/L=50/25 MOSFETs. The results show the nonlinear error is less than $\gamma$1% over 10V full-scale range for the bias current of 200$\mu$A with 10V single power-supply.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.11
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• pp.1190-1196
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• 2014

This paper presents the design of a Frequency Modulated Continuous Wave(FMCW) radar altimeter with wide altitude range and low measurement errors. Wide altitude range is achieved by employing the optic delay in the transmitting path to reduce the dynamic range of measuring altitude. Transmitting power and receiver gain are also controlled to have the dynamic range of the received power be reduced. In addition, low measurement errors are obtained by improving the sweep linearity using the Direct Digital Synthesizer(DDS) and minimizing the phase noise employing the reference clock(Ref_CLK) as the offset frequency of the Phase Locked Loop(PLL).

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.12
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• pp.1170-1176
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• 2010

This study addresses adaptive control of UAVs(Unmanned Aerial Vehicles) pitch-axis maneuver. The MRAC(Model Referenced Adaptive Control) approach is employed to accommodate uncertainties which are introduced by feedback linearization of pitch attitude control by elevator input. The model uncertainty is handled by adaptation laws which update model parameters while the UAV is under control by the feedback control law. Steady-state pitch attitude achieved by the stabilizing control law is derived to provide insight on the closed-loop behavior of the controlled system. The proposed idea is free of linearization, gain-scheduling procedures, so that one can design high maneuverability of UAVs for pitching motion in the presence of significant model uncertainty.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.6 no.1
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• pp.37-47
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• 2005

This Paper proposes a practical design and implementation methodology for a disturbance rejection controller. In a 2 Degree-Of-Freedom (DOF) structure, disturbance rejection performance can be improved without a high gain in forward-loop controller which might cause unwanted side-effects in conventional controller. But, since design methodology of 2 DOF controller is originally derived from the 2 DOF theory, it is not easy to utilize fer various industrial applications. Disturbance observer is a simple, but very effective 2 DOF controller. In this paper, practical issues are discussed from basic idea of DOB to technical procedure for design and implementation. Additionally, a methods and their examples of experimental modeling are explained. The proposed method is demonstrated by two examples of linear-type motor systems.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.4C
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• pp.397-402
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• 2009

Accurate estimation of time-selective fading channel is a difficult problem in OFDM(Orthogonal Frequency Division Multiplexing) system. There are many channel estimation algorithms that are very weak in noisy channel. For solving this problem, we use EM (Expectation-Maximization) algorithm for iterative optimization of the data. We propose an EM-LPC algorithm to estimate the time-selective fading. The proposed algorithm improves of the BER performance compared to EM based channel estimation algorithm and reduces the iteration number of the EM loop. We simulated the uncoded system. If coded system use the EM-LPC algorithm, the performance are enhanced because of the coding gain. The EM-LPC algorithm is able to apply to another communication system, not only OFDM systems. The image processing of the medical instruments that the demand of accurate estimation can also use the proposed algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.423-429
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• 2011

This paper deals with the observer-based decentralized fuzzy controller design for nonlinear interconnected system for PEMFC. The nonlinear interconnected system is represented by a Takagi-Sugeno (T-S) fuzzy model. Based on T-S fuzzy interconnected system, the fuzzy observer and the decentralized fuzzy controller are designed. The stability condition of the closed-loop system with the proposed controller is represented to the linear matrix inequality (LMI) form, and the observer and control gain s are obtained by LMI. An example is given to show the verification discussed throughout the paper.