• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.757-763
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• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.139-145
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• 2006

A multi-variable Golden-Section adaptive controller is proposed for the tracking control of robotic manipulators with unknown dynamics. With a small sample time, the unknown dynamics of the robotic manipulator are denoted equivalently by a characteristic model of a 2-order multivariable time-varying difference equation. The coefficients of the characteristic model change slowly with time and some of their valuable characteristic relationships emerge. Based on the characteristic model, an adaptive algorithm with a simple form for the control of robotic manipulators is presented, which combines the multi-variable Golden-Section adaptive control law with the weighted least squares estimation method. Moreover, a compensation neural network law is incorporated into the designed controller to reduce the influence of the coefficients estimation error on the control performance. The results of the simulations indicate that the developed control scheme is effective in robotic manipulator control.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.581-586
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• 2003

This paper presents control designs using neural networks (NN) for a XY positioning table. The proposed neurocontroller is composed of an outer PD tracking loop for stabilization of the fast flexible-mode dynamics and an NN inner loop used to compensate for the system nonlinearities. A tuning algorithm is given for the NN weights, so that the NN compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded weight estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The proposed neuro-controller is implemented and tested on an IBM PC-based XY positioning table, and is applicable to many precision XY tables. The algorithm, simulation, and experimental results are described. The experimental results are shown to be superior to those of conventional control.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.401-406
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• 2004

In this paper, a new time-domain adaptive predistortion scheme is proposed to compensate for the nonlinearity of high power amplifiers (HPA) in OFDM systems. A complex Wiener-Hammerstein model (WHM) is adopted to describe the input-output relationship of unknown HPA with linear dynamics, and a power series model with memory (PSMWM) is used to approximate the HPA expressed by WHM. By using the PSMWM, the compensation input to HPA is calculated in a real-time manner so that the linearization from the predistorter input to the HPA output can be attained even if the nonlinear input-output relation of HPA is uncertain and changeable. In numerical example, the effectiveness of the proposed method is confirmed and compared with the identification method based on PSMWM.

• The Journal of Korean Association of Computer Education
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• v.6 no.3
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• pp.47-56
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• 2003

We describe a new method for removing non-linear phased array antenna aberration called "squint" problem. To develop a compensation scheme. theoretical antenna and artificial neural networks were used. The purpose of using the artificial neural networks is to develop an antenna system model that represents the steering function of an actual array. The artificial neural networks are also used to implement an inverse model which when concatenated with the antenna or antenna model will correct the "squint" problem. Combining the actual steering function and the inverse model contained in the artificial neural network, alters the steering command to the antenna so that the antenna will point to the desired position instead of squinting. The use of an artificial neural network provides a method of producing a non-linear system that can correct antenna performance. This paper demonstrates the feasibility of generating an inverse steering algorithm with artificial neural networks.

• Proceedings of the KIEE Conference
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• 2006.04b
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• pp.313-315
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• 2006

Being controlled by a pole placement, levitation system should need many sensors that measure air-gap, velocity, acceleration, and so on. However, these sensors have observational errors by changed temperature. This paper proposed a output compensated command tracking controller for reducing the error and reducing sensors. Simulation results will be provided to show the validity of the proposed scheme.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.1
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• pp.10-15
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• 2004

We present a state-space approach to make non-square linear systems strictly passive by using an input-dimensional parallel feedforward compensator. A necessary and sufficient condition for the existence of the parallel feedforward compensator is given by the static output feedback formulation, which enables to utilize linear matrix inequality. By modifying the structure of the compensator the additional technical assumption in the previous result [1] is removed. The effectiveness of the proposed method is illustrated by some numerical examples which can be stabilized by the proportional-derivative (PD) and proportional-derivative-integral (PID) control laws. The proposed control scheme can successfully replace the measurements of derivative terms in the control laws.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.55 no.1
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• pp.21-25
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• 2006

This paper describes the novel control techniques design of VSC(Voltage Sag Corrector) for the purpose of power line quality enhancement. A fast detecting technique of voltage sag is implemented through the detection of instantaneous value on synchronous rotating do-reference frame. The first order digital filter is added in the detection algorithm to protect the insensitive characteristics against the noise. The relationship between the total detection time and cut-off frequency of the filter is described. The size of the capacitor bank used as the energy storage element is designed from the point of view of input/output energy with circuit analysis. Finally, the validity of the proposed scheme is proven through the simulated results.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.5
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• pp.352-359
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• 1987

The cycloconverter operating on a circulating current-free mode has many zero crossing points. If an exact zero crossing points are not detected, the three phase-unbalanced currents will flow in a motor. In this paper, the current feedback using a current reference wave is proposed to improve the problems of zero crossing detection, three phase-unbalanced voltages, currents, and torgue ripples. To prevent the saturation of the air gap flux and keep the torque constant, the constant voltage / hertz control with IR compensation is adopted. The PI-controller is designed using the linearized model of the cycloconverterinduction motor system. Alsi, Z-80A single board computer has been used to implement the proposed scheme which results in the performance improvement of cycloconterter-fed induction motor speed control system.

• Proceedings of the IEEK Conference
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• 2000.09a
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• pp.429-432
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• 2000

We propose a new frame rate up-conversion algorithm for high quality video. In the proposed scheme bidirectional motion estimation (ME) is performed to construct the motion vector. (MV) field for the frame to be interpolated. Unlike conventional motion-compensated interpolation (MCI) algorithms, the proposed technique does not produce any overlapped pixel and hole region in the interpolated frame, and thus can utilize the overlapped block motion compensation technique to reduce the blocking artifacts. The proposed algoritm is very simple to implement on consumer products when compared to conventional MCI methods. Computer simulation shows a high visual performance of the proposed frame rate up-conversion algorithm.