• ICROS
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• v.17 no.2
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• pp.27-35
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• 2011

This paper presents the state of the art of control strategies for bilateral teleoperation systems under time delays. In the bilateral teleoperation that has force feedback, the time delay in the communication channel is the main source of instability. To cope with this problem. a number of control methods have been proposed. Among many control strategies. key aspects of the recent passivity-based methods are mainly summarized for approaches with wave variables. PO/PC (passivity observer/passivity controller), simple PD, and energy bounds.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.3
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• pp.305-325
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• 2015

In this paper, missile homing guidance laws to control the impact angle and time are proposed based on the polynomial function. To derive the guidance commands, we first assume that the acceleration command profile can be represented as a polynomial function with unknown coefficients. After that, the unknown coefficients are determined to achieve the given terminal constrains. Using the determined coefficients, we can finally obtain the state feedback guidance command. The suggested approach to design the guidance laws is simple and provides the more generalized optimal solutions of the impact angle and time control guidance.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.87.2-87
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• 2001

By the state transformation including independent outputs functions, a nonlinear process model can be decomposed into two subsystems; the one(design model) is described in output variables as new states and used for control system synthesis and the other(disturbance model) is described in the original unavailable states and its couplings with the design model are treated as uncertain time-varying parameters in the design model. Its existence with respect to the design model is ignored. So, the design model is an uncertain time-variant system. Control synthesis based on a reduced design model is a combined ...

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.41 no.7
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• pp.9-19
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• 2004

WLAN (Wireless Local Area Networks) needs error recovery and flow control schemes to support reliable multicast protocol. Limited wireless bandwidth, as well as queuing losses caused by the asymmetric wired/wireless interactions, demands more effective approaches for reducing packet losses. Moreover, since the wireless channel is a shared broadcast medium, if sender receives feedback information simultaneously from several receivers, the feedback delays data frame transmission of forward direction by introducing channel congestion and burden at the sender. Therefore, it is important to minimize the amount of feedback information from receivers. In this paper, we propose an ARS(Adaptive Redundancy Scheme) that combines FEC(Forward Error Correction) using channel state estimation and ARQ(Automatic Repeat Request) both to reduce the amount of feedback information and the number of retransmissions and to guarantee high data reliability in a WLAN multicast environment. Performance of the proposed scheme is evaluated by means of analysis and simulations in AWGN and Rayleigh fading channels. The results show that the proposed scheme reduces the amount of feedback information and the number of retransmissions and guarantees high data reliability, while keeping throughput efficiency similarly with the conventional FEC and ARQ scheme.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1905-1910
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• 2003

It is well known that parameter uncertainties and time-delays cannot be avoided in practice and result in poor performance and even instability. Nevertheless, to the authors' best knowledge, there exist few results on model predictive control (MPC) handling explicitly uncertain time-delayed systems. In this paper, we present an MPC algorithm for uncertain time-varying systems with input constraints and state-delay. An optimization problem is suggested to find a memoryless state-feedback MPC law and the closed-loop stability is established under feasibility and certain conditions.

• Proceedings of the KIEE Conference
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• 2004.10a
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• pp.179-181
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• 2004

This paper is proposed an adaptive fuzzy-neural network(A-FNN) controller based on the vector controlled induction motor drive system. The hybrid combination of fuzzy control and neural network will produce a powerful representation flexibility and numerical processing capability. Also, this paper is proposed speed estimation of induction motor using A closed-loop state observer. The rotor position is calculated through the stator flux position and an estimated flux value of rotation reference frame. A closed-loop state observer is implemented to compute the speed feedback signal. The results of analysis prove that the proposed control system has strong robustness to rotor parameter variation, and has good steady-state accuracy and transitory response.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.36 no.3
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• pp.188-196
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• 1987

This paper describes a design method for the buck type switching regulator to improve transient and steady state performances. Necessary design considerations on the power stage are given before designing the controller to obtain better trandient responses with less control effort and a feedforward compensation is also given to effectively improve the steady state performance. In the design of the controller, a PIM (proportional-integral-measurable) control method with optimized constant feedback gains is presented to get better tansient and steady state performances without complicating the implementation of controller. Computer simulations and experimental results are given to show the usefulness of the presented technique.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.7
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• pp.1247-1253
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• 2008

A design method of a T-S fuzzy model based reduced order nonlinear unknown input observer(NUIO) is presented. The fuzzy NUIO is designed based on the parallel distributed compensation(PDC) concept. It consists of a number of the linear UIOs, each of which is designed for each local linear model in the T-S fuzzy model of a class of nonlinear systems. The fuzzy NUIO provides not only the state estimates insensitive to the unknown inputs, for example, disturbances and faults etc., but also the estimates of the unknown inputs. Therefore, It can be employed in the state feedback control and disturbance rejection control of a class of nonlinear systems with unknown disturbances. It also applied to the robust residual generation for the fault detection and isolation systems and to the design of fault tolerant control systems. As an example, the NUIO is applied to an inverted pendulum system to show the state and disturbance estimation performance and to illustrate the fuzzy reduced order NUIO design method.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.3
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• pp.407-414
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• 1996

In this paper we consider the variable structure control for a class of discrete-time uncertain multivariable systems where the nominal system is linear. Discrete-time switching dynamics are introduced so that a new type of state trajectories called sliding mode may exist on the sliding surface by state feedback. The quantitative analysis for the matched uncertainties will show that every response of the system with the proposed switching dynamics is bounded within small neighborhoods of the state-space origin. Also, by the similarity transformation it will be shown that the eigenvalues of the closed-loop systems are composed of those of the subsystems which govern the range-space dynamics and null-space dynamics. It will be also shown that ideal sliding mode can be obtained in the absence of uncertainties due to one-step attraction to the sliding surface regardless of initial position of states. (author). 12 refs., 2 figs.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.8
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• pp.1491-1497
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• 2007

This paper considers robust and non-fragile guaranteed cost controller design method for descriptor systems with parameter uncertainties and time delay, and static state feedback controller with gain variations. The existence condition of controller, the design method of controller, the upper bound to minimize guaranteed cost function, and the measure of non-fragility in controller are proposed using linear matrix inequality (LMI) technique, which can be solved efficiently by convex optimization. Therefore, the presented robust and non-fragile guaranteed cost controller guarantees the asymptotic stability and non-fragility of the closed loop systems in spite of parameter uncertainties, time delay, and controller fragility.