• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.4
• /
• pp.262-267
• /
• 2001

Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.

• Journal of the Korean Institute of Telematics and Electronics A
• /
• v.31A no.7
• /
• pp.1-16
• /
• 1994

In this paper, we propose a new multiple access scheme for VSAT(Very Small Aperture Terminal) data communications. The proposed scheme has better performance in terms of delay throughput than Controlled Multiaccess Scheme which has excellent performance. The proposed scheme use the spare reservation method, adaptation method to offered load, and fixed bandwidth reservation method. In this paper, we analyze the performance using simple queueing model and present the simulation results. When network traffic is very low, the new scheme and the controlled multiaccess scheme have almost the same access delay characteristic. As the network load becomes higher, the new scheme's access delay gain becomes larger. Futhermore, even when the network traffic is very high it is possible to access satellite link within the delay similar to one round-trip delay. In addition to access delay performance enhancement, the new scheme has facility that supports fixed bandwidth reservation. So it shows more enhanced performance in the environment that stream traffic is dominant such as in VSAT communication environment.

• Journal of the Korean Society for Precision Engineering
• /
• v.6 no.4
• /
• pp.108-118
• /
• 1989

An adaptive control scheme has been recognized as an effective approach for a robot manipulator to track a desired trajectory in spite of the presence of nonliearity and parameter uncertainty in robot dynamics model. In this paper, an adaptive control scheme for a robot manipulator is proposed to design robust controller using model reference adaptive control technique and hyperstability theory but it does away with] assumption that the process is characterized by a linear model remaining time invariant during the adaptation process. The performance of controller is demonstrated by the simulation about position and speed control of a six-link manipulator with disturbance and payload variation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.1-6
• /
• 1990

Neural network is a computational model of ft biological nervous system developed ID exploit its intelligence and parallelism. Applying neural networks so robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 am shows that it can move a high speed as well as adapt to unforseen load changes and sensor noise. The results are compared with the conventional PD control scheme.

• 한국전산유체공학회:학술대회논문집
• /
• 2011.05a
• /
• pp.294-301
• /
• 2011

A two-dimensional hybrid flaw solver has been developed for the accurate and efficient simulation of steady and unsteady flaw fields. The flow solver was cast to accommodate two different topologies of computational meshes. Triangular meshes are adopted in the near-body region such that complex geometric configurations can be easily modeled, while adaptive Cartesian meshes are, utilized in the off-body region to resolve the flaw more accurately with less numerical dissipation by adopting a spatially high-order accurate scheme and solution-adaptive mesh refinement technique. A chimera mesh technique has been employed to link the two flow regimes adopting each mesh topology. Validations were made for the unsteady inviscid vol1ex convection am the unsteady turbulent flaws over an NACA0012 airfoil, and the results were compared with experimental and other computational results.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2383-2385
• /
• 2000

It is proposed a new algorithm for a neural network adaptive tracking control scheme to improve performance in this paper. In supervisory control scheme, the upper and lower bound of the parameters are directly estimated by using RBF neural network without their information, and the weighting parameters of the control input are adjusted on-line by adaptation laws. As a result, the proposed algorithm assured that the output errors go to zero without relation to existing minimum approximation errors and disturbances. The effectiveness of the proposed algorithm is demonstrated through the simulation of one-link rigid robotics manipulator.

• ETRI Journal
• /
• v.26 no.5
• /
• pp.391-396
• /
• 2004

In this paper, we propose a packet scheduling discipline called packet loss fair scheduling, in which the packet loss of each user from different real-time traffic is fairly distributed according to the quality of service requirements. We consider an orthogonal frequency division multiple access (OFDMA) system. The basic frame structure of the system is for the downlink in a cellular packet network, where the time axis is divided into a finite number of slots within a frame, and the frequency axis is segmented into subchannels that consist of multiple subcarriers. In addition, to compensate for fast and slow channel variation, we employ a link adaptation technique such as adaptive modulation and coding. From the simulation results, our proposed packet scheduling scheme can support QoS differentiations while guaranteeing short-term fairness as well as long-term fairness for various real-time traffic.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.804-809
• /
• 2004

This paper introduces a link-type tracked vehicle which is developed for demining operations. The vehicle consists of three parts - front frame, rear frame and body. The front frame is connected to the rear frame by a rotational passive adaptation mechanism which is a driving mechanism of the vehicle. Additionally, the demining system which is adaptable to mobile robot is developed to clear small Anti-Personnel(AP) mines with inexplosive method. In other words, assembled rakes unearth mines by their opposite rotation to the direction of the robot. Finally, the motions of demining rakes and design parameters of the demining system are analyzed.

• 제어로봇시스템학회:학술대회논문집
• /
• 1998.10a
• /
• pp.519-524
• /
• 1998

This paper presents a robust control scheme of free-joint manipulators to overcome actuator failures and uncertain-ties in Cartesian space where tasks are planned. The control scheme has the adaptation law for the upper bound on the norm of uncertainties through the Lyapunov function approach. To solve the dynamic singularity problem in the controller, the singular and nonsingular regions are investigated based on a computer simulation. Then a singularity-free Cartesian trajectory planning is achieved in order to guarantee the availability of the control scheme. To illustrate the validity of the proposed control scheme, simulation results for a three-link planar robot arm with a free joint are shown.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.50 no.1
• /
• pp.38-44
• /
• 2001

This paper investigates the direct adaptive control of nonlinear systems using RBFN(radial basis function networks). The structure of the controller consists of a fixed PD controller and a RBFN controller in parallel. An adaptation law for the parameters of RBFN is developed based on the Lyapunov stability theory to guarantee the stability of the overall control system. The filtered tracking error between the system output and the desired output is shown to be UUB(uniformly ultimately bounded). To evaluate the performance of the controller, the proposed method is applied to the trajectory contro of the two-link manipulator.