• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.256-261
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• 2002

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real-time control of robot system using DSPs.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.03a
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• pp.79-84
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.4
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• pp.26-37
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller. feedback controller. and PID type time-varying auxiliary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require a an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.214-218
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• 1997

We propose a VSC(Variable Structure Controller) with a PI-type reaching law. In General, conventional VSCs with a reaching law including a discontinuous term have the chattering problem, and thus the system may be unstable due to the disregarded high frequency dynamics in the modeling process. To resolve this problem, the PI-type reaching law is proposed in this paper. The proposed reaching law makes it easy to determine the reaching dynamics as well as the reaching time by utilizing the 2nd-order system analysis. Furthermore, since the discontinous term is not involved in the reaching law, the chattering is considerably reduced. To show the effectiveness of the proposed scheme, the stability of the proposed system is proved by Lyapunov method and the computer simulations are performed for the Ball Balance System.

• Journal of Electrical Engineering and Technology
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• v.7 no.6
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• pp.891-897
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• 2012

In this paper, the observer based nonlinear state feedback controller has been developed to control the pressures of the oxygen and the hydrogen in the PEM(Proton Exchange Membrane) fuel cell system. Nonlinear model of the PEM fuel cell system was introduced to study the design problems of the state observer and model based controller. A cascade observer using the filtering technique was used to estimate the pressure derivatives of the cathode and the anode in the system. In order to estimate the pressures of the cathode and the anode, the sliding mode observer was designed by using these pressure derivatives. To estimate the oxygen pressure and the hydrogen pressure in the system, the nonlinear state observer was designed by using the cathode pressure estimates and the anode it. These results will be very useful to design the state feedback controller. The validity of the proposed observers and the controller has been investigated by using the Lyapunov's stability analysis strategy.

• Journal of Power Electronics
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• v.14 no.3
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• pp.549-563
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• 2014

In this paper, the speed regulation problem of permanent synchronous motor (PMSM) systems under the vector control framework is studied. A model reference adaptive controller (MRAC) based on the Lyapunov stability theory is first designed. Since the standard MRAC method provides poor disturbance rejection performance in the case of strong disturbances, a composite control method which combines the MRAC method and the disturbance estimation method, called the MRAC+ESO method, is proposed. An extended state observer (ESO) is introduced to estimate the lumped disturbances. The obtained estimated value acts as a feedforward compensation term to the MRAC controller. A stability analysis of the composite control method is given. Simulation and experimental results are presented and compared to show the effectiveness of the proposed control method.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1179-1181
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• 1996

In this paper, method for direct adaptive control of discrete nonlinear systems using neural network is presented. Also, the stability problems are investigated in sense of the Lyapunov stability conditions. Through extensive simulation, the SOON is shown to be effective for indirect adaptive control of nonlinear dynamic systems.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.6
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• pp.558-564
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• 2008

This paper presents an approach to combine adaptive controller with feedback linearization, which extends the applicability of the adaptive controller to a wider class of systems. The adaptive controller guarantees the asymptotic tracking convergence and the transient performance of the tracking error. The feedback linearization transforms a nonlinear plant into a linear time invariant form. The asymptotic tracking convergence is shown by the use of Lyapunov stability analysis and Barbalat's lemma.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.331-333
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• 1995

A high performance motor drive system must have a good speed command tracking, a insensitivity to a parameter variation and sampling time. In this paper, a robust speed controller for an induction motor is proposed. The speed controller is fuzzy-sliding adaptive controller and its system continuously is varied. That is, only P gain act in dynamic state, I gain in steady-state. Because this system is a sort of adaptive control system, global stability analysis is used to Lyapunov function. Consequently, in this paper application of fuzzy sliding adaptive controller to induction motor controlled by vecter control is presented and the control system is digitally implemented within DSP.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.679-686
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• 2013

In this paper, the new stability conditions for discrete systems with time-varying delay time are proposed by Lyapuniv theory for the stability analysis of NCS(Networked Control System) having data communication. The proposed stability conditions are very simple and easily calculated compared to the previous conditions having complex numerical calculations. The proposed results can include several previous works on the same issue. From the simulation results, the proposed conditions show the better performance and less conservative on checking stability compared with previous results.