• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.3
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• pp.382-389
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• 2013

In anti-jamming GPS receiver, adaptive signal processing techniques in which the radiation pattern of adaptive array antenna of elements may be adaptively changed used to reject interference, clutter, and jamming signals. In this paper, I describes adaptive signal processing technique using the sample matrix inversion(SMI) algorithm. This adaptive signal processing technique can be applied effectively to wideband/narrowband anti-jamming GPS receiver because it does not consider the satellite signal directions and GPS signal power level exists below the thermal noise. I also analyzed the effects of covariance matrix sample size and diagonal loading technique on the system performance of five-element circular array antenna. To attain near optimum performance, more samples required for calculation covariance matrix. Diagonal loading technique reduces the system nulling capability against low-power jamming signals, but this technique improves robustness of adaptive array antenna.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.472-477
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• 1996

This paper presents a new approachtothe 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 adaaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The prpposed 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.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.154-161
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• 1999

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 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.

• 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.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.4
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• pp.239-246
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• 2003

Application of the filtered-x Least Mean Square(LMS) adaptive filter to active noise control requires to estimate the transfer characteristics between the output and the error signal of the adaptive controller. In this paper, we derive the filtered-x adaptive noise control algorithm and analyze its convergence behavior when the acoustic noise consists of multiple sinusoids. The results of the convergence analysis of the filtered-x LMS algorithm indicate that the effects of the parameter estimation inaccuracy on the convergence behavior of the algorithm are characterized by two distinct components Phase estimation error and estimated gain. In particular, the convergence is shown to be strongly affected by the accuracy of the phase response estimate. Simulation results are presented to support the theoretical convergence analysis.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.9
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• pp.569-575
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• 2004

This paper is proposed adaptive fuzzy-neural network(FNN) controller for high performance of induction motor drive. The design of this algorithm based on FNN controller that is implemented using fuzzy control and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses the back-propagation method to adjust the weights between the neurons of neural network in order to minimize the error between the command output and actual output. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control Performance of the adaptive FNN controller is evaluated by analysis for various operating conditions. The results of analysis prove that the proposed control system has strong high performance and robustness to parameter variation. and steady- state accuracy and transient response.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.540-545
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• 1988

In this study a microcomputer-aided design program has been developed to design and analysis for the digital adaptive control system. DACS(Digital Adaptive Control System) program has been written in GWBASIC language which is suitable for IBM-PC compatible. The dynamics of each element was modulized and described by linear difference equations. By the aid of this program, sampling time, the number of bits of A/D and D/A converter and the stability for the digital adaptive control system can be determined. In order to estimate the system parameters an on-line identification and a regression analysis method are utilized. The simulation results have been well agreed with the experiments. To demonstrate the utility of this program, an adaptive control system has been designed for air-heating system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.8 s.179
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• pp.2091-2099
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• 2000

The object of the present study is to present an adaptive wavelet-Galerkin method for the analysis of thin-walled box beam. Due to good localization properties of wavelets, wavelet methods emerge as alternative efficient solution methods to finite element methods. Most structural applications of wavelets thus far are limited in fixed-scale, non-adaptive frameworks, but this is not an appropriate use of wavelets. On the other hand, the present work appears the first attempt of an adaptive wavelet-based Galerkin method in structural problems. To handle boundary conditions, a fictitous domain method with penalty terms is employed. The limitation of the fictitious domain method is also addressed.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.135-139
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• 1992

Control of tool-environment interaction force to comply the robot system to an environment is of vital in many automated process. This paper presents the implementation of an adaptive force control with commercial robot system in two dimensional contour following task. A model reference adaptive control system, combined with the linear compensators, is implemented. That is, a use of adaptive control is to provide an auxiliary control system so that the contour following performance can be improved from that of using linear control system only. Hyperstability is used to derive the adaptive control law. Experimental verification of the proposed control system is obtained using PUMA 560 robot system. Data obtained experimentally shows that the use of additional adaptive control system improves the contour following performance about 30% in RMS contact force errors upon that of the system controlled by the linear compensators only.