• 대한전기학회논문지
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• 제38권11호
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• pp.922-933
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• 1989

This paper deals with an indirect pole placement adaptive controller design problem for discrete-time plants with arbitrary zeros in the presence of unmodeled dynamics and/or disturbances. The plant and controller parameters are estimated by separate estimators. The nonlinear feedback is introduced so that the estimated plant has as high degree of controllability as possible. The nonlinear feedback will be used in a finite time, after which the control algorithm becomes a standard pole placement one.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 B
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• pp.1114-1116
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• 2000

A direct model reference adaptive control (DMRAC) is applied to the speed control of brushless do(BLDC) motor. The main objective is to achieve precise speed control in the face of varying motor parameters and load. The control is described as an outer loop speed control and an inner current loop control which has raster dynamics than the speed loop. The adaptive control is applied to the outer speed control loop. DMRAC is compared to an indirect adaptive controller(IMRAC) and a PI controller. Simulation results show that the two adaptive controllers give similar respose and are superior to the PI controller. However, the DMRAC algorithm is simpler to implement.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1267-1271
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• 2003

This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed loop system is guaranteed. The computer simulation results for an inverted pendulum system show the performance of the proposed robust adaptive fuzzy controller.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권1호
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• pp.14-21
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• 2001

This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. In indirect adaptive fuzzy control, based on the proved approximation capability of fuzzy systems, they are used to capture the unknown nonlinearities of the plant. Until now, most of the papers in the field of controller design for nonlinear system considers the affine system using fuzzy systems which have fixed grid-rule structure. We proposes a dynamic fuzzy rule insertion scheme where fuzzy rule-base grows as time goes on. With this method, the dynamic order of the controller reduces dramatically and an appropriate number of fuzzy rules are found on-line. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed-loop system is guaranteed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1081-1084
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• 1991

A technique of indirect adaptive control based on certainty equivalence for input output linearization of nonlinear system is proven convergent by Teel. It incorporates an adaptive observer for identifying unknown system states and parameters and input-output linearizing controller for robust tracking. In this study, we show that robustness and tracking performances are improved considerably by using its normalized form of Teel's observer-based identifier. Simple examples are presented as illustration.

• 한국정보시스템학회:학술대회논문집
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• 한국정보시스템학회 1996년도 추계학술발표회 발표논문집
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• pp.217-227
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• 1996

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performin this specific task. In a previous work［6］, the authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification ad control. This paper develops improved indirect learning control algorithms, and studies the use of such controllers in decentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The basic result of the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

• 한국산업정보학회:학술대회논문집
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• 한국산업정보학회 1996년도 추계 학술 발표회 발표논문집
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• pp.217-227
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• 1996

The new filed of learning control develops controllers that learn to improve their performance at executing a given task , based on experience performing this specific task. In a previous work[6], authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper develops improved indirect learning control algorithms, and studies the use of such controller indecentralized systems. The original motivation of the learning control field was learning in robots doing repetitive tasks such as on an asssembly line. This paper starts with decentralized discrete time systems. and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. The resultof the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample tie in the digital learning controller is sufficiently short.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1996년도 춘계학술대회 논문집
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• pp.114-118
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• 1996

This paper proposes a new technique to the design of adaptive control system using DSPs(TMS320C50) for Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation. an suitable for implementation of real-time control. Moreover, this scheme does not requre an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by exeperimental reults for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1424-1429
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• 1990

This paper presents an indirect adaptive control scheme for discrete linear systems whose parameters are not necessrily slowly varying. It is assumed that system parameters are modelled as linear combinations of known bounded functions with unknown constant coefficients. Unknown coefficients are estimated using a recursive least squares algorithm with a dead zone and a forgetting factor. A control law which makes the estimated model exponentially stable is constructed. With this control law and a state observer, all based on the parameter estimates, it is shown that the resulting closed-loop system is globally stable and robust to bounded external disturbances and small unmodelled plant uncertainties.

• 한국정밀공학회지
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• 제13권2호
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• pp.133-145
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• 1996

This paper presents an indirect cutting force measuring system, which uses the current signals from the AC servo drive units of the horizontal machining center, with its applications to the adaptive regulation of the cutting forces in various milling processes and to the on-line monitoring of tool breakage. A typical model for the feed-drive control system of a horizontal machining center is developed to analyze cutting force measurement from the drive motor. The pulsating milling forces can be measured indirectly within the bandwidth of the current feedback control loop of the feed-drive system. It is shown that the indirectly measured cutting force signals can be used in the adaptive controller for cutting force regulation. The whole scheme has been embedded in the commercial machining center and a series of cutting experiments on the face cutting processes are performed. The adaptive controller reveals reliable cutting force regulating capability against the various cutting conditions. It is also shown that the tool breakage in milling can be detected within one spindle revolution by adaptively filtering the current signals. The effect of the cutter run-out has been considered for the reliable on-line detection of tool breakage.