• 제목/요약/키워드: Parameter Tracking

검색결과 550건 처리시간 0.025초

구동기의 동특성을 고려한 로봇매니퓰레이터의 강인제어기 설계 (A robust controller design for robot manipulators with actuator dynamics)

  • 박광석;황동환
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.139-142
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    • 1997
  • In this paper, a robust controller is proposed to achieve an accurate tracking for an uncertain nonlinear plant with actuator dynamics. The extent of parameter uncertainty can be quantified by using linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is designed using the boundary layer technique around the sliding surface and guarantees the uniform ultimate boundedness of the tracking error.

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선형예측에 의한 숫자음성 자동인식 (A Spoken Korean-Digits Recognition System Based on Linear Prdiction Spectra)

  • 오영환
    • 대한전자공학회논문지
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    • 제17권3호
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    • pp.12-19
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    • 1980
  • A speech recognition system for separately pronounced Korean digits is described. The system is composed of four stages ; parameter extraction, segmentation by voiced-unovied analysis, formant tracking and pattern matching. Digit speech is segmented into an unvoiced segment and/or a voiced one using ZCR and energy measurements, then to estimate the first three formant frequencies a relatively simple formant tracking scheme is applied to the raw formant data extracted from linear prediction spectra. Finally, pattern matching is made using dynamic programmig method. Recognition experiment is carried out for 150 digit utterences spoken by three male speakers, and recgnition rate 94 % is obtained.

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신경회로망을 이용한 선형/비선형 시스템의 식별과 적응 트래킹 제어 (Linear/nonlinear system identification and adaptive tracking control using neural networks)

  • 조규상;임제택
    • 전자공학회논문지B
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    • 제33B권5호
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    • pp.1-9
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    • 1996
  • In this paper, a parameter identification method for a discrete-time linear system using multi-layer neural network is proposed. The parameters are identified with the combination of weights and the output of neuraons of a neural network, which can be used for a linear and a nonlinear controller. An adaptive output tracking architecture is designed for the linear controller. And, the nonlinear controller. A sliding mode control law is applied to the stabilizing the nonlinear controller such that output errors can be reduced. The effectiveness of the proposed control scheme is illustrated through simulations.

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강인.적응제어 방식에 의한 이동로봇의 동력학 제어 (Dynamic control of mobile robots using a robust.adaptive control method)

  • 남재호;백승민;국태용
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.449-452
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    • 1996
  • In this paper, a robust.adaptive control scheme is presented for precise trajectory tracking of nonholonomic mobile robots. In the controller, a set of desired trajectory is defined and used in constructing the control input which constitutes the main part of the proposed controller. The stable operating characteristics such as precise trajectory tracking, parameter estimation, disturbance suppression, tec., are shown through experiments as well as computer simulation.

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BLDC 모터의 구동장치 개발 및 정밀 반복제어 (Development of driver for BLDC motor system and precise repetitive control)

  • 강병철;이충환;김상봉
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.1257-1260
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    • 1996
  • This paper describes a fully digitalized driver for BLDC motors and the driver is realized by a single chip microprocessor. The speed change can be done by using the signal obtained from the position detecting sensor and adjusting the pulse width at the input channel of power module. In order to verify the effectiveness, an repetitive control method is adopted in the speed control tracking a periodic reference change in the BLDC motor system. The experimental results are shown for the reference tracking accurately according to the design parameter variation in the repetitive controller design.

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가변구조제어기를 사용한 CNC 공작기계의 절삭실험 (CNC milling experiments using a variable structure control)

  • 김정호;은용순;조동일
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.852-855
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    • 1996
  • A variable structure controller is developed for an AC servo motor used in CNC milling machines. The designed controller is implemented as an outer loop controller to a factory designed motor-servopack system. The robustness parameter is tuned for a fast response when the speed tracking error is large, while it is tuned for small oscillations when the speed tracking error is small. The designed controller is installed on a CNC machine using a PC. Cutting experiments show improved performance over the factory-designed controller.

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Integrated sliding mode and adaptive control of nonlinear systems with guaranteed tracking performances

  • Li, Ji-Hong;Lee, Sang-Jeong
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2002년도 ICCAS
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    • pp.48.2-48
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    • 2002
  • This paper presents an integrated sliding mode adaptive control scheme for general nonlinear uncertain systems, where structured uncertainty is assumed can be linearly parameterized and unstructured uncertainty is assumed be bounded by unknown constant A certain estimation scheme for this unknown constant is introduced to attenuate the unstructured uncertainty. Presented control scheme is shown to be stable and numerical expressions of bounds of all error signals are given, from which we can acquire some useful information about practical trade-off between tracking performance and parameter estimation property.

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로보트 운용조건을 포함한 가변구조 제어방식에 관한 연구 (A study on the variable structure control method including robot operational condition)

  • 이홍규;이범희;최계근
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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    • pp.72-75
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    • 1988
  • Due to the fact that the set point regulation scheme by the variable structure control method concerns only the initial and final locations of a manipulator, many constraints may exist in the application of path tracking with obstracle avoidance. The variable structure parameter should be selected in the trajectory planning step by satisfying the constraints of the travel time and the path deviations This paper presents the selection algorithm of the variable structure parameters with the constraints of the system dynamics and the travel time and the path deviation. This study makes unify the trajectory planning and tracking control using the variable structure control method.

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An Unscented Kalman Filter for Noisy Parameter Estimation of Passive Telemetry Sensor System

  • Kim, Kyung-Yup;Jeong, Jong-Won;Ok, Soo-Yol;Lee, Joon-Tark
    • 한국마린엔지니어링학회:학술대회논문집
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    • 한국마린엔지니어링학회 2005년도 후기학술대회논문집
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    • pp.45-46
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    • 2005
  • In this paper, a passive telemetry sensor system using Unscented Kalman Filter(UKF) is proposed. Specially, to show the effective tracking performance of the UKF, we compared with the tracking performance of Recursive Least Square Estimation (RLSE) using linearization.

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