• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.376-381
• /
• 1992

In this thesis, a self-tuning control method based on Variable Structure System technique for tracking control of Direct-Drive motor is presented. The self-tuning control could not make the tracking error zero in the transient period. This tracking error may be due to disturbances or the error in parameter identification. To overcome this problem, a self-tuning control method based on discrete time VSS technique is presented. The STC based on VSS technique gives good tracking performance of the reference signal in the transient period. The proposed controller is robust to parameter errors and disturbances. The performance of the proposed controller is compared with that of simple STC through digital computer simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.1210-1215
• /
• 1990

This paper deals with the fault diagnosis problem in uncertain linear systems having undermodelling, linearization errors and noise inputs. The new approach proposed in this paper uses an appropriate test variable and the difference between system parameters which are estimated by the least squares method to locate the fault. The singular value decomposion is used to decouple the correlation between the estimated system parameters and to observe the trend of parameter changes. Some simulations applied to aircraft ergines show good allocation of the fault even though the system model has significant uncertainties. The feature of the approach is to diagnose the uncertain system through simple parameter operations and not to need complex calculations in the diagnosis procedure as compared with other methods.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.22 no.1
• /
• pp.49-57
• /
• 1986

The vibrations problem of thin orthotropic skew plates of linearly varying thickness is analyzed using the small deflection theory of plates. Using dimensionless oblique coordinates, the deflection surface can be expressed as a polyonmial series satisfying the boundary conditions. For orthotropic plates which is clamped on all the four edges, numerical results for the first two natural frequencies are presented for various combinations of aspect ratio, skew angle and taper parameter. The properties of material used are one directional glass fibre reinforced plastic GFRP. The results obtained may be summarised as follows: 1. In case of the first mode vibration of plates with increase in the skew angle, the natural frequencies of plates decrease. 2. As the aspect ratio decrease, the natural frequencies of plates decrease. 3. For the identical skew angle, natural frequencies of plates increase with the taper parameter of thickness.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.30B no.5
• /
• pp.52-61
• /
• 1993

This paper deals with adaptive control method of a robot manipulator with one-flexible link. ARMA model is used as a prediction and estimation model, and adaptive control scheme consists of parameter estimation part and adaptive controller. Parameter estimation part estimates ARMA model's coefficients by using recursive least-squares(RLS) algorithm and generates the predicted output. Variable forgetting factor (VFF) is introduced to achieve an efficient estimation, and adaptive controller consists of reference model, error dynamics model and minimum prediction error controller. An optimal input is obtained by minimizing input torque, it's successive input change and the error between the predicted output and the reference output.

• Proceedings of the KIEE Conference
• /
• 1997.11a
• /
• pp.80-82
• /
• 1997

A robust position control system for a BLDC motor using new sliding mode control strategy is presented. Using the new variable structure system, reaching phase problem is eliminated and transient response is largely improved by design of nonlinear sliding surface. The design of the sliding mode position controller is robust in motor parameter, load variations and disturbance. Experiment results show that the proposed approach can achieve accurate position motor tracking in face of large parameter variations and external disturbances, such as a robot arm, etc.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
• /
• 1999.11a
• /
• pp.262-266
• /
• 1999

In this paper, we consider to apply of 2-DOF (Degree of Freedom) PID controller at D.C servo motor system. Many control system use I-PD, PID control system, but the position control system have difficulty in controling variable load and changing parameter. We propose neural network 2-DOF PID control system having feature for removal disturbrances and tracking function in the target value point. The back propagation algorithm of neural network used for tuning the 2-DOF parameter ($\alpha$, $\beta$, ${\gamma}$, η). We investigate the 2-DOF PID control system in the position control system and verify the effectiveness of proposal method through the result of computer simulation.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.34 no.10
• /
• pp.407-417
• /
• 1985

This paper describes a new method for the design of adaptive model-following control systems. This design concept is developed using the theory of slide mode. Authors present new results on the sliding control methodology to achieve accurate tracking for a class of multi-input multi-output, time-varying systems in the presence of parameter variations and disturbances. This algorithm can be easily applied to the multivariable control systems and obtained a smoother control signal in comparison to variable structure model following control systems. The design technique is easy and the control structure is simple. The design requires little computational effort. The control system is less sensitive to plant parameter variations and noise disturbances.

• Communications for Statistical Applications and Methods
• /
• v.21 no.2
• /
• pp.193-200
• /
• 2014

It was recognized by some researchers that the disturbance variance in a censored regression model is frequently underestimated by the maximum likelihood method. This underestimation has implications for the estimation of marginal effects and asymptotic standard errors. For instance, the actual coverage probability of the confidence interval based on a maximum likelihood estimate can be significantly smaller than the nominal confidence level; consequently, a Bayesian estimation is considered to overcome this difficulty. The behaviors of the maximum likelihood and Bayesian estimators of disturbance variance are examined in a fixed effects panel regression model with a limited dependent variable, which is known to have the incidental parameter problem. Behavior under random effect assumption is also investigated.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.4
• /
• pp.228-234
• /
• 2005

In this paper, we proposed a self tuning adaptive fuzzy sliding control algorithms using gadient descent method to reduce chattering phenomenon which is viewed in variable control system. In design of FLC, fuzzy control rules are obtained from expert's experience and intuition and it is very difficult to obtain them. We proposed an adaptive algorithm which is automatically updated by consequence part parameter of control rules in order to reduce chattering phenomenon and simultaneously to satisfy the sliding mode condition. The proposed algorithm has the characteristics which are viewed in conventional VSC, e.g. insensitivity to a class of disturbance, parameter variations and uncertainties in the sliding mode. To demonstrate its performance, the proposed control algorithm is applied to an inverted pendulum system. The results show that both alleviation of chattering and performance are achieved.

• Proceedings of the KIEE Conference
• /
• 2002.07d
• /
• pp.2037-2039
• /
• 2002

This paper focuses on robust $H_{\infty}$ control for bilinear systems with time-varying parameter uncertainties via state feedback. The suitable robustly stabilizing feedback control law can be constructed in term of solution to a state variable x-dependent quadratic Riccati equation using successive approximation technique. Also, the state feedback control law robustly stabilizes the plant and guarantees a robust $H_{\infty}$ performance for the closed-loop bilinear system with parameter uncertainties and exogenous disturbance.