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퍼지추론의 스위칭 특성을 이용한 적응제어기 설계 및 산업용 자동화 설비에의 응용
이형찬 한국조명전기설비학회 1999 조명·전기설비학회논문지 Vol.13 No.1
본 논문은 미지이거나 변화하는 산업용 로봇 매니퓰레이터의 추종문제를 다룬다. 제시된 방법은 간접적응 제어기 구조를 근거로 퍼지추론에 의한 스위칭 구조를 통해 다중모델 적응제어기를 설계하고자 한다. 매니퓰레이터 한 개의 식별기를 이용한 다중 식별기들은 미지 관성 파라미터와 부하무게의 초기 추정치를 제외하고는 동일하다. 관절 액츄에이터에 가해진 토크입력은 매순간 로봇 동적시스템의 가장 근접한 식별기 모델에 의해 결정된다. 제시된 방법을 이용하여 용접라인 및 부품조립 자동화 설비 등의 적용 예로서 산업용 로봇 매니퓰레이터의 추종성능이 개선됨을 컴퓨터 모의 실험을 통해 보인다. This paper deals with the tracking control problem of industrial robotic manipulators with unknown or changing dynamics. The proposed method makes use of multiple moodels and switching mechanism by fuzzy inference of the manipulator in an indirect adaptive controller architecture. The models used for the indmtification of the manipliator are identical, except for the initial estimates of the unknown inertial pararmeters of the manipulator and its load. The torque input that is applied to the joint actuators is determined at every instant by the identification model that best approximates the robot dynamics. Simulation results are also included to dermnstrate the improvement in the tracking perfermance when the proposed method is used.s used.
婦人帶下의 病因病理 및 不妊에 미치는 影響에 對한 硏究
李珩贊,廉泰煥 대한한의학회 부인과학회 1987 大韓韓方婦人科學會誌 Vol.1 No.1
In order to study the pathogenesis of gynecofluor and the effect of gyneco-fluor on infertility, I considered oriental medical books from Nae Kyeong (內經) to recent references. The following results were obtained. 1. Nae Kyeong(內經) is of opinion that. flour is a disease of Im-Maeg(任脈) by humidity, and later references after Nea Kyeong is of opinion that flour is a disease of Dae.-Maeg(帶脈) Im-Maeg(任脈), Dog-Maeg(督脈), Kidney Meridian(腎經) Liver Meridian (肝經), Spleen Meridian(脾經), Stomach Meridian(胃經)and Bladder Meridian(膀胱經). 2. The effected parts of gyneco-fluor is expressed Eum(陰), Eum Ho(陰戶), Ja Jang(子臟), Pao(胞), Po (포) ; those are responded to vagina, uterus, tuba uterina, ovarium, and etc. in western medical anatomy. 3. The most important cause of gyneco-fluor is humidity, and other causes are humid heat and humid phlegm. 4 . Gvneco-fluor may be caused by internal damage of seven emotions(七情內傷) blood deficiencies, fatness, emaiation, drunk gluttony and fatigue from sexual intercourse. 5. Gyneco-fluor may be caused by inflammatory diseases of uterus, ovarium, tube uterina, and ovarium etc. in the pelvis. 6. If gyneco-fluor occurred fluently or chronically, it sometimes might cause infertility.
이형찬 대진대학교 첨단소재연구소 2002 첨단소재연구소논문집 Vol.5 No.-
In this paper, the adaptive control problem is studied for a class of nonlinear systems in the presence of bounded disturbances. By utilizing a nice property of the studied systems, a novel Lyapunov-based control structure is developed, which avoids the possible control singularity problem in adaptive nonlinear controller. The transient bounds of output tracking error are shown to be explicit functions of initial conditions and design parameters, and the control performance of the closed loop system is guaranteed by suitably choosing the design parameters. Simulation study is provided to verify the theoretical results.