• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.856-859
• /
• 1997

In this paper we treat the application of fault detection method in DC motor having both model mismatch and noise problems. A fault detection method presented by Kwon et al. (1994) for SISO systems has been here experimented. The model mismatch includes here linearization error as well as undermodelling. Comparisons are made with the real plant, DC motor. The experimental result of robust fault detection method is shown to have good performance via with the alternative fault detection method which do not account noise.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1267-1271
• /
• 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.

• Journal of the Korean Data and Information Science Society
• /
• v.13 no.2
• /
• pp.271-284
• /
• 2002

In this paper we consider the robust inference for the parameter of linear regression model based on weighted least squares. First we consider the sequential test of multiple outliers. Next we suggest the way to assign a weight to each observation $(x_i,\;y_i)$ and recommend the robust inference for linear model. Finally, to check the performance of confidence interval for the slope using proposed method, we conducted a Monte Carlo simulation and presented some numerical results and examples.

• ETRI Journal
• /
• v.34 no.1
• /
• pp.130-133
• /
• 2012

Recently, several noise-robust adaptive multichannel LMS algorithms have been proposed based on the spectral flatness of the estimated channel coefficients in the presence of additive noise. In this work, we propose a general form for the algorithms that integrates the existing algorithms into a common framework. Computer simulation results are presented and demonstrate that a new proposed algorithm gives better performance compared to existing algorithms in noisy environments.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.642-647
• /
• 1993

In general, systems contain uncertain elements in the real world; these may be parameters, constant or varying, that are unknown or imperfectly known. When the uncertainty is assumed to satisfy the matching condition and to be cone-bounded, Y.H. Chen[81 proposed an adaptive robust control algorithm which introduced adaptive scheme for a design parameter into robust deterministic controls. In this paper, the above control algorithm is applied to the position tracking control of 2 DOF direct drive SCARA robots, and simulation and experimental studies are conducted to verify the control algorithm and to evaluate control performance.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.139-144
• /
• 1993

In this paper, a robust reduced order adaptive controller is proposed based on Internal Model Control(IMC) structure for stochastic linear stable systems. The concept of gain margin is utilized to make the adaptive IMC controller robust. We prove the stability of the proposed adaptive IMC system for stable plants under the assumption that upper bounds for system orders are known. Simulation results show that the proposed method has good performance and stability robustness.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.581-584
• /
• 1996

This paper presents the robust control of robot manipulators using a decentralized control scheme. The control scheme decouples the coupling dynamics between the joints and compensates the joint variable errors without any computation of the dynamics. The performance of the control scheme is compared with that of other control schemes such as the computed torque scheme and the adaptive control scheme by simulation.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.2
• /
• pp.83-88
• /
• 2001

The robust linear H(sub)$\infty$ FIR filter, which guarantees a prescribed H(sub)$\infty$ performance, is designed for continuous time-varying systems with unknown cone-bounded nonlinearity. The infinite horizon filtering for time-varying systems is systems is investigated in therms of two Riccati equations by the finite moving horizon.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.255-260
• /
• 1988

A robust adaptive control method for a stable nonminimum phase SISO system with unmodelled dynamics is proposed. The robust parameter estimation method of the system with bounded output noise and unmodelled dynamics is employed and a parallel structure is proposed to improve the robustness of adaptive control system. The local stability of the proposed system is shown. Computer simulations are done in order to compare the performance of the proposed structure with the basic structure on various circumstance.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2001.04a
• /
• pp.259-262
• /
• 2001

An improved robust hybrid control law is proposed. This law used the separated bounding function and the stiffness bound. It satisfied the performance though we don't know precise information of contact environments. It guarantees the practical stability in sense of Lyapunov. Simulation was performed to validate this law using a four-axis SCARA type robot manipulator.