• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.267-270
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• 1995

In this paper, a variable structure control scheme with a terminal sliding mode is proposed for robot manipulators. The proposed control scheme guarantees that the output tracking error converges to zero in finite time, and the overall system shows robust property against parametric uncertainties and external disturbances all the time.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.313-316
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• 1990

This paper proposes the design of the decentralized adaptive controllers which are an arbitrary interconnection of sub-systems with unknown parameters, nonlinear ities and bounded disturbances. In order to exponentially converge the state and parameter errors, robust decentralized adaptive controllers are developed for stabilization and tracking the parameters. In the simulation studies of the decentralized adaptive control of a two-area interconnected power system, the effectiveness of the proposed adaptive schemes is demonstrated.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.6-6
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• 2000

By using the information obtained from the outputs of MR(MagnetoResistive) sensors for an Unmanned Vehicle Driving System, we develop an algorithm that decides the distance and direction between vehicle and the guideline which is made by the magnet. To improve the robust tracking properties of the closed loop system, we introduce H$\infty$ controller and its application for the Unmanned Vehicle Driving System.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.349-350
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• 2007

In general, PID controller is widely used for speed control of motor. PID control method is easy and simple to set the control gains without model parameters. However, the precise and robust control of the motors needs complex and difficult control method. In this paper, we present a simple and robust speed controller for disturbances of a motor. The numerical simulation shows that the proposed control considering disturbances can improve the speed tracking performance more than PI control.

• Proceedings of the KIEE Conference
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• 2005.10a
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• pp.128-131
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• 2005

In this paper a robust controller using adaptive backstepping technique is proposed to control the speed of a wind turbine system. To make wind power generation truly cost effective and reliable, advanced and robust control algorithms are derived to on-line adjust the excitation winding voltage of the generator based on both mechanical and electrical dynamics. This method is shown to be able to achieve smooth and asymptotic rotor position tracking, as justified by analysis.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1227-1229
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• 2007

In this paper a robust controller using adaptive backstepping technique is proposed to control the position of wind power generation system. To make wind power generation truly cost effective and reliable, advanced and robust control algorithms are derived to on-line adjust the excitation winding voltage of the generator based on both mechanical and electrical dynamics. This method is shown to be able to achieve smooth and asymptotic rotor speed tracking, as justified by analysis and computer simulation.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.5
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• pp.131-138
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• 1996

This paper suggests a servo control algorithm to reduce the repeatable tracking error which is not explicitly taken into account in the design of a conventional PID controller of a computer hard disk drive. The robust stability of the repetitive control system with multiplicative modelling error is analyzed, and the controller was implemented using a fixed point DSP(Digital Signal Processor). Experimental results show that the repetitive errors are suppressed effectively by the proposed controller.

• International Journal of Control, Automation, and Systems
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• v.3 no.4
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• pp.620-630
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• 2005

This paper presents a digital controller for a single phase UPS inverter under two main considerations: (i) the overall system shall keep very low AC-voltage tracking error as well as no phase delay over different load conditions, and (ii) the digital controller shall be employed at a fixed sampling time. We propose that the former can be achieved by the proposed controller using the error-state approach and the latter can be dealt with by the socalled characteristics ration assignment.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.354-359
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• 2003

In this paper, we consider the problem of designing a simple learning variable structure system for repeatable tracking control of robot manipulators. We combine a variable structure control law as the robust part for stabilization and a feedforward learning law as the intelligent part for nonlinearity compensation. We show that the tracking error asymptotically converges to zero. Finally, we give computer simulation results in order to show the effectiveness of our method.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1047-1051
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• 1993

A fuzzy controller of a manipulator with artificial rubber muscles is proposed. The fuzzy logic controller as a compensator is described to control the trajectory tracking of a -two link manipulator, where computed torque control method has already assumed to be applied. We shows that the fuzzy compensator with a simple adaptive scaling technique is effective for the robust control when there exist model uncertainties and/or untuned feedback gains. The effectiveness of the proposed control method is illustrated by some experimental results for a circular path tracking.