• International Journal of Costume and Fashion
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• 제4권
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• pp.81-99
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• 2004

If we are to analyze certain chromatic phenomena, we must first know what “color” is； we must identify its essential characteristics in an effort to achieve a more rational comprehension of visual phenomena in general. What is difficult for most observers to grasp is that seeing colors is no different than seeing shapes. Indeed, all aspects of the objects in the world surrounding us-shape, size, distance, movement, as well as color--are seen via our perceptual system. (omitted)

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.734-738
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• 1996

An adaptive output feedback controller is designed for tracking control of an n-link robot manipulator with unknown load. High-gain observers with same structure as error dynamic systems are used to estimate joint velocities. The parameter adaptation is achieved by the smoothed projection algorithm. The control inputs are saturated outside a domain of interest. Simulation results on a 2-link manipulator illustrate that when the speed of the high-gain observer is sufficiently high, the proposed controller recovers the performance under state feedback control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.22-25
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• 2005

In the paper, algorithms for disturbance observers are newly presented in the time-domain. Attention is paid to observing a ramp disturbance by introducing an integral term to the output equation of a constant disturbance observer. In order to reduce the sensitivity to the measurement noise, the disturbance observer is combined with the state observer. It will be shown that the estimation dynamics can be arbitrarily chosen by assigning the eigenvalues of a characteristic equation. Also, we provide the analysis of observer behaviors subject to non-ramp-style disturbances. Finally, we propose the generalized disturbance observer that accurately estimates disturbances of higher order in time series expansion.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 전문대학교육위원
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• pp.33-36
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• 2004

In this paper, a new estimation algorithm for the rotor speed for SRM drives is described. The algorithm is implemented by the sliding mode observer. The stability and robustness of the sliding observer for the parameter variations of the SRM are proved by variable structure control theory. Variable speed control of the SRM is accomplished by the estimated speed. Experiment results verify that the sliding mode observer is able to estimate the speed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.37.5-37
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• 2001

A robust control for robot manipulators actuated by induction motors using neural networks(NNs) is considered. The control is designed to compensate for nonlinear dynamics associated with the mechanical subsystem and the electrical subsystems only with the measurements of link position, link velocity and stator winding currents. Two-layer NNs are used to approximate unknown functions occurring from parameter variation during backstepping design process. Specially, through the use of nonlinear observers for rotor flux, observed backstepping controller is designed to achieve uniform ultimately bounded link position tracking of the given reference signal ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.31.5-31
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• 2001

In conventional perturbation estimators such as disturbance observers(DOB) [1, 2] or time-delayed controllers(TDC) [3{5}, the low pass filter(so-called Q-filter) plays an important role in the stability and performance. However, a general design guideline or analysis for the Q-filter has not been researched yet. In this paper, a guideline for the design of discrete Q-filter is suggested in terms of the analysis of the relationship between the filter parameters and stability performance robustness in discrete-time domain. The analysis clarifies the discrete-time effect of the perturbation estimator and provides a transparent relationship between performance and robustness depending ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.83.5-83
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• 2002

Perspective dynamical systems arise in machine vision, in which only perspective observation is available, and the essential problem is to estimate the state and /or unknown parameters for a moving rigid body based on the observed information. This paper proposes and studies a Luenberger-type observer for perspective tim e-varying linear systems. In particular, assuming a given perspective time-varying linear system to be Lyapunov stable and to satisfy some sort of observability condition, it is shown that the estimation error converges exponentially to zero. Finally, a simple numerical exam pie is presented to illustrate the result obtained.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.1075-1079
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• 1989

In this paper a robust control design is developed for the control of a multi-joint manipulators using sliding observer. The sliding observer is introduced to estimate the angular velocity of the links under the disturbance input. The feedback control is designed by the use of the estimated value of the angular velocity .theta.. The VSS control laws is introduced to ensure the robustness concerning the disturbance inputs. To illustrate the effectiveness of the proposed method, a computer simulation is performed for a two-joint manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.939-942
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• 1988

In order to construct a nonlinear observer, change of coordinate system is necessary. However, as in the case of feedback linearizable system it is not easy to obtain a coordinate transformation map. ln this paper, a canonical structure is proposed for observable systems with an objective of finding a vector field which is necessary for the generation of a new coordinate system.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권9호
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• pp.630-637
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• 2004

In this paper, we present a local reduced-order observer for a class of nonlinear systems that have full robust relative degree. The proposed observer utilizes the coordinate change which transforms a nonlinear system into an approximate normal form. The proposed reduce order observer is applied to a ball and beam system, and simulation results show that substantial improvement in the performance was achieved compared with the jacobian linearization observers.