Huang Sunan
Email Address
elehsn@nus.edu.sg
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Publication A new repetitive control for LTI systems with input delay(2009-04) Tan, K.K.; Zhao, S.; Huang, S.; Lee, T.H.; Tay, A.; ELECTRICAL & COMPUTER ENGINEERINGIn this paper, a new form of Repetitive Control (RC) is proposed which is applicable to an extended class of systems, including time-delay systems. A new convergence condition which is necessary and sufficient will be derived for this RC. Simulation examples will illustrate the practical applications of the results to process control problems. © 2008 Elsevier Ltd. All rights reserved.Publication Bipedal locomotion modeled as the central pattern generator (CPG) and regulated by self organizing map for model of cortex(2013) Mishra, A.; Sunan, H.; Yu, H.; Thakor, N.V.; ELECTRICAL & COMPUTER ENGINEERINGThis paper describes a biologically inspired algorithm mimicking locomotion, and associated brain inspired software architecture to model bipedal gait. The central pattern generator (CPG) neural network is first modeled and next, self-organizing maps of gait for running and walking are created. This biological or brain inspired neural network model is finally assimilated to account for cortical control or modulation of gait. This work demonstrates the utility of using the CPG neural networks and self-organizing maps as the controller to mimic normal and abnormal gait patterns. The work presented here is our first step towards developing a biologically inspired neuroprosthetic device to help stroke patients regain normal gait at a faster pace. © 2013 IEEE.Publication Development of a framework and system for remote electronics experiments(2009) Tang, K.Z.; Tan, K.K.; Goh, Y.H.; Tay, A.; Huang, S.N.; Lee, T.H.; ELECTRICAL & COMPUTER ENGINEERINGThe outreach activities organized by the Department of Electrical and Computer Engineering (ECE) at National University of Singapore (NUS) are geared towards bringing interesting engineering projects, workshops, talks and other engaging activities to the students and teachers in the various high schools in Singapore. To expand the scope of the outreach activities, a framework and system to facilitate remote electronics experiments has been developed, utilizing remote virtual instrumentation concepts. Using the proposed setup, the students are able to design electronic circuits and observe/analyze the responses from the circuits to excitation, while being physically distant from the laboratory where the electronic circuits and instrumentation/measurement systems are located. © 2009 TEMPUS Publications.Publication Design, modeling, and control of piezoelectric actuators for intracytoplasmic sperm injection(2007) Putra, A.S.; Huang, S.; Tan, K.K.; Panda, S.K.; Lee, T.H.; ELECTRICAL & COMPUTER ENGINEERINGThe modeling and control of two piezoelectric actuators (PAs), with an objective application towards intracytoplasmic sperm injection (ICSI), is addressed in this paper. The PAs are used to realizing the fast and precise movements of an injector so as to penetrate an oocyte (egg cell) with precision and without causing a large deformation. Two specific PA designs are considered for this application: linear reciprocating and partially rotating. General models are presented for the purpose of control system design for both designs. To address the nonlinearities and uncertainties of the actuators, as represented in the model, an adaptive controller is proposed to yield robust control performance. Application results are presented and discussed in this paper. Successful penetration of the zona pellucida (cell membrane) of the oocyte to the ICSI problem has been achieved with both designs and the merits and demerits of both configuration are duly discussed. © 2007 IEEE.Publication Adaptive friction compensation with a dynamical friction model(2011-02) Lee, T.H.; Tan, K.K.; Huang, S.; ELECTRICAL & COMPUTER ENGINEERINGThis paper presents a new compensation technique for dynamic friction. The proposed control utilizes a PD control structure and an adaptive estimation of the friction force based on an observer. Specifically, a nonlinear function is used to compensate the nonlinear effects of the parameters in the friction model. Simulations and experimental results verify the theory and show that the method can significantly improve the tracking performance of the motion control system. © 2006 IEEE.Publication Fault diagnosis and fault-tolerant control in linear drives using the Kalman filter(2012-11) Huang, S.; Tan, K.K.; Lee, T.H.; ELECTRICAL & COMPUTER ENGINEERINGIn this paper, we consider the fault diagnosis and fault-tolerant problem for a linear drive system subject to system noise. First, we propose a residual generator based on the Kalman filter, which can be used to detect if a failure occurs. Second, two Kalman filters are designed to diagnose the fault type. Third, when a fault is diagnosed, the fault-tolerant control is used to accommodate this failure. Finally, the proposed method is tested in a real linear drive system. © 2012 IEEE.Publication Robust adaptive control of piezoelectric actuators with an application to intracytoplasmic sperm injection(2005) Tan, K.K.; Huang, S.; Ng, S.C.; Tan, L.G.; ELECTRICAL & COMPUTER ENGINEERING; OBSTETRICS & GYNAECOLOGYPublication Use of neural fuzzy networks with mixed genetic/gradient algorithm in automated vehicle control(1999) Huang, S.; Ren, W.; ELECTRICAL ENGINEERINGThis paper is concerned with the design of automated vehicle guidance control. First, we propose to implement the guidance tasks using several individual controllers. Next, a neural fuzzy network (NFN) is used to build these controllers, where the NFN constructs are neural-network-based connectionist models. A two-phase hybrid learning algorithm which combines genetic and gradient algorithms is employed to identify the NFN weightings. Finally, simulations are given to show that the proposed technology can improve the speed of learning convergence and enhance the performance of vehicle control.Publication Identification of coulomb friction-impeded systems with a triple-relay feedback apparatus(2012-05) Chen, S.-L.; Tan, K.K.; Huang, S.; ELECTRICAL & COMPUTER ENGINEERINGThis paper aims to identify friction-impeded servo-mechanical systems using a time-domain based approach with a multiple-relay feedback apparatus. By converting the closed-loop system into a triple-relay feedback system, switching conditions of a stable limit cycle are obtained. Following by this, stable oscillations are excited by choosing suitable relay gains. Hence, the level of Coulomb friction and other linear parameters are identified by numerically solving a set of equations with data from just a single limit cycle experiment. This method is also robust to measurement noise. Simulation and real-time experiments on a DC motor show the practical appeal of the proposed method. © 2011 IEEE.Publication Friction modeling and adaptive compensation using a relay feedback approach(2001-02) Tan, K.K.; Lee, T.H.; Huang, S.N.; Jiang, X.; ELECTRICAL & COMPUTER ENGINEERINGIn this paper, the application of a dual-relay feedback approach toward modeling of frictional effects in servomechanisms is addressed. The friction model consists of Coulomb and viscous friction components, both of which can be automatically extracted from suitably designed relay experiments. At the same time, the dynamical model of the servomechanical system can be obtained from the experiments. Thus, a proportional-integral-derivative feedback motion controller and a feedforward friction compensator can be automatically tuned in this manner. The friction model obtained is also directly applicable to initialization of an adaptive control scheme proposed. Results from simulation and experiments are presented to illustrate the practical appeal of the proposed method.