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黃正自
姓名:黃正自
職稱:專任教授
辦公室:大義館 624-1 室
研究室:大義館 804 室
個人網頁:
聯絡電話:02-28610511 ext. 33711
聯絡信箱:hzz4@faculty.pccu.edu.tw
請益時間:二 4,三 3-4. 四 2-4
學歷:
國立交通大學電機與控制工程博士
國立台灣大學電機工程碩士
國立中央大學機械工程學士
經歷:
工研院材料所感測材料組副研究員
華隆微電子產品副工程師
萬能技術學院電子系講師
萬能技術學院電子系副教授
萬能技術學院電子系教授
專長:自動控制、機電整合、光電元件、機器人控制
任教科目:
電機機械 Electrical Machinery
控制理論 Control Theory
專題討論 Seminar
機器人原理與實務 Robotics: Principal And Practice
光機電工程學 Opto-Mechatronics
學術著作:期刊論文 / 研討會論文 / 專題研究計畫
期刊論文:
[1] J.-T. Huang,“Global tracking control of strict-feedback systems using neural networks,” IEEE Transactions on Neural Networks and Learning Systems, 2012, (accepted).
[2] J.-T. Huang,“Hybrid-Based Adaptive NN Backstepping Control of Strict-Feedback Systems,” Automatica, vol. 45, pp. 1497-1503, 2009.
[3] J.-T. Huang, “Adaptive tracking control of high-order nonholonomic mobile robot systems,” IET Control Theory and Applications, vol. 3, Iss. 6, pp. 681-690, 2009..
[4] J.-T. Huang, “Parameter convergence for adaptive input-output linearizable systems: with applications to Chua’s circuits,” IET Control Theory and Applications, vol. 1, no. 3, pp. 572-577, 2007.
[5] J.-T. Huang, “Persistent excitation in a shunt DC motor under adaptive control,” Asian Journal of Control, vol. 9, no. 1, pp. 37-44, 2007.
[6] J.-T. Huang* and Y. M. Chen , “A smooth switching adaptive controller for linearizable systems with improved transient performance,” International Journal of adaptive control and signal processing, vol. 20, no. 9, pp. 431-446, 2006.
[7] J.-T. Huang, “Parametric Identification for Second-Order Nonlinear Systems in Closed-Loop Operations,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, no. 3, pp. 686-690, 2006.
[8] D.-C. Liaw*, C.-C. Song, and J.-T, Huang, “Robust control of a centrifugal compressor with spool dynamics,” IEEE Transactions on Control Systems Technology, vol. 12, no. 6, pp. 966-972, 2004 .
[9] J.-T. Huang, “A new approach to parametric identification of a single-link flexible-joint manipulator,” Journal of Intelligent and Robotic Systems, vol. 37, pp. 273-284, 2003.
[10] J.-T. Huang, ”Sufficient conditions for parameter convergence in linearizable systems” IEEE Transactions on Automatic Control, vol. 48, no. 5, pp. 878-880, 2003.
[11] J.-T. Huang, ”An adaptive compensator for a class of linearly parameterized systems,” IEEE Transactions on Automatic Control, vol. 37, no. 3, pp. 483-486, 2002.
[12] D.-C. Liaw* and J.-T. Huang,” Robust stabilization of axial flow compressor dynamics via sliding mode designs,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 123, pp. 488-495, 2001.
[13] D.-C. Liaw* and J.-T. Huang, “Global stabilization of axial compressors using nonlinear cancellation and backstepping designs,” International Journal of Systems Science, vol. 29, no. 12, pp. 1345-1361, 1998.
[14] D.-C. Liaw* and J.-T. Huang, “Contact friction compensation for robots using genetic learning algorithms,” Journal of Intelligent and Robotic Systems, vol. 23,pp. 331-349, 1998.
[15] D.-C. Liaw* and J.-T. Huang, “Fuzzy control for stall recovery of axial-flow compressor dynamics,” Journal of Control Systems and Technology, vol. 6, no. 4, pp. 231-241, 1998.

研討會論文:
[1] J.-T. Huang and M-L Tseng, “Global adaptive neural tracking control of strict-feedback systems with bounded uncertainty,” 2012 7’th IEEE Conference on Industrial Electronics and Applications, pp. 175-180, Singapore, July. 18-20, 2012.
[2] J.-T. Huang and C.-H. Chang, “A composite controller for uncertain omnidirectional mobile robots,” 2011 8’th Asian Control Conference, pp. 777-781, May. 15-18, 2011.
[3] J.-T. Huang, “Tracking control of uncertain nonholonomic mobile robots: smooth switching approach,” the ASME 2009 International Design Engineering Technical Conference & Computers and Information in Engineering Conference, IDETC/CIE Aug. 30- Sep. 2, San Diego, California, 2009.
[4] J.-T. Huang, “Adaptive tracking control of high-order nonholonomic mobile robot systems,” the 2008 International Conference on Machine Learning and Cybernetics, pp. 1866-1871, Kunming, China, July. 12-15, 2008.
[5] J.-T. Huang, “Singularity-free adaptive backstepping design for strict-feedback systems using neural networks,” proceedings of 2007 International Conference on Machine Learning and Cybernetics, pp. 2755-2760, Hong Kong, Aug. 19-22, 2007.
[6] J.-T. Huang, “Smooth switching adaptive model reference control of robots using neural networks,” proceedings of the European Control Conference, pp. 1246-1243, Kos, Greece, July 2-5, 2007.
[7] J.-T. Huang* and Y. H. Chou, “Adaptive control of a shunt DC motor with persistent excitation,” Proceedings of the 16th IFAC World Congress in Prague, July 4-8, 2005.
[8] J.-T. Huang, “On parameter convergence of adaptive fully linearizable systems,”Proceedings of the 2004 American Control Conference, Boston, June 30-July 2, pp. 1929-1934, 2004.
[9] J.-T. Huang, “An adaptive compensator for a servo system with Coulomb and viscous friction,” 2001 IEEE International Conference on Control Applications , Mexico City, Mexico, September 5-7, 2001, pp. 196-199.
[10] D.-C. Liaw* , J.-T. Huang, and C.-C, Song, “Robust stabilization of a centrifugal compressor with spool dynamics,” Proc. 2000 National Symposium on Automatic Control, Hsin-Chu, Taiwan, R.O.C. March 9-10, 2000, pp. 348-353.
[11] D.-C. Liaw* and J.-T. Huang, “Robust stabilization of axial flow compressor dynamics,” presented at Fourth SIAM Conference on Control & Its Applications, Jacksonville, FL, USA, May, 7-9, 1998.

專題研究計畫:
[1] 計畫名稱:嚴格回授系統全域適應性類神經控制設計及其在輪型機器人防滑控制應用
擔任工作:主持人
委託機構:國科會
計畫編號:101-2221-E-034-008
執行期間:101.08.01-102.07.31
[2] 計畫名稱:機械手臂之連續及非連續切換控制設計
擔任工作:主持人
委託機構:國科會
計畫編號:100-2221-E-034-003
執行期間:100.08.01-101.07.31
[3] 計畫名稱:系統參數未知下之全向輪型機器人路徑規劃與控制整合設計
擔任工作:主持人
委託機構:國科會
計畫編號:99-2221-E-034-014-
執行期間:99.08.01-100.07.31
[4] 計畫名稱:輪型機器人之指數收斂穩定器設計及實踐
擔任工作:主持人
委託機構:國科會
計畫編號:98-2221-E-034-016
執行期間:98.08.01-99.07.31
[5] 計畫名稱:可移動式機器人混模控制設計
擔任工作:主持人
委託機構:國科會
計畫編號:97-2221-E-034-019
執行期間:97.08.01-98..07.31
[6] 計畫名稱:結合類神經網路於可線性化系統之切換式強健適應性控制及其在可移動式機器人之應用
擔任工作:主持人
委託機構:國科會
計畫編號:96-2221-E-238-019-
執行期間:2007.08.01~2008.07.31
[7] 計畫名稱:結合系統參數預知範圍於機械手臂低速摩擦補償設計
擔任工作:主持人
委託機構:國科會
計畫編號:95-2221-E-238-002-
執行期間:2006.08.01~2007.07.31
[8] 計畫名稱:伺服系統之高效率適應性控制設計
擔任工作:主持人
委託機構:國科會
計畫編號:93-2218-E-238-003-
執行期間:2004.08.01~2005.07.31
[9] 計畫名稱:強恆激方式下之低速摩擦適應性辨識設計
擔任工作:主持人
委託機構:國科會
計畫編號:92-2213-E-238-003-
執行期間:2003.08.01~2004.07.31
[10] 計畫名稱:摩擦力辨識及強健適應性控制設計之DSP實踐
擔任工作:主持人
委託機構:國科會
計畫編號:90-2213-E-238-005-
執行期間:2001.08.01~2002.07.31
[11] 計畫名稱:類神經-基因演算法於伺服機構的摩擦力辨識補償設計之研究
擔任工作:主持人
委託機構:國科會
計畫編號:89-2218-E-238-003-
執行期間:2000.08.01~2001.07.31

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