• Journal of Ocean Engineering and Technology
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• v.26 no.3
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• pp.20-25
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• 2012

In this paper, the authors propose a new approach to the control problem of marine vessels that are moored or controlled by actuators. The vessel control system is basically based on Dynamic Positioning System (DPS) technology. The main object of this paper is to obtain a more useful control design method for DPS. In this problem, the control allocation is a complication. For this problem, many results have been given and verified by other researchers using a two-step process, with the controller and control allocation design processes carried out individually. In this paper, the authors provide a more sophisticated design solution for this issue. The authors propose a new design method in which the controller design and control allocation problems are considered and solved simultaneously. In other words, the system stability, control performance, and allocation problem are unified by an LMI (linear matrix inequality) based on control theory. The usefulness of the proposed approach is verified by a simulation using a supply vessel model.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.6
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• pp.120-127
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• 2007

This paper describes the development of a nonlinear observer for four wheel steer (4WS) vehicle. An observer is designed to estimate the vehicle variables difficult to measure directly. A brake yaw motion controller (BYMC), which uses a PID control method, is also proposed for controlling the brake pressure of the rear and inner wheels to enhance lateral stability. It induces the yaw rate to track the reference yaw rate, and it reduces a slip angle on a slippery road. The braking and steering performances of the anti-lock brake system (ABS) and BYMC are evaluated for various driving conditions, including straight, J-turn, and sinusoidal maneuvers. The simulation results show that developed ABS reduces the stopping distance and increases the longitudinal stability. The observer estimates velocity, slip angle, and yaw rate of 4WS vehicle very well. The results also reveal that the BYMC improves vehicle lateral stability and controllability when various steering inputs are applied.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.1 s.307
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• pp.13-20
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• 2006

In this paper, we propose a motion control scheme of robot manipulators based on visual feedback under camera-in-hand configuration. The desired joint velocity and acceleration for motion control is made by the feature-based visual data in the outer loop. The control input for tracking feature points on the image plane uses robot kinematics dynamic. The proposed control input consists of the image feature and the joint velocity error to achieve robustness to the parametric uncertainty. The stability of the closed-loop system is proved by Lyapunov approach. Computer simulations and experiments on a two degree of freedom manipulator with 5 links are presented to illustrate the performance of proposed control system.

• Proceedings of the Korean Geotechical Society Conference
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• 2005.03a
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• pp.17-24
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• 2005

Recently construction activities increase in reclaimed onshore areas. It is therefore considered an important factor for the design of pile foundation with problems in terms of settlements due to soft grounds. Nevertheless the design of piles for negative skin friction(or downdrag forces) is probably poorly understood by many engineers. It is mainly because the most of design specification give a way to design pile foundation in bearing capacity aspect although the negative skin friction is related to settlement(downdrag). Under LRFD(load resistance factor design) approach it is to separately consider ultimate limit state and serviceability limit state. This paper discusses LRFD approach to the design of piles for negative skin friction and compares this approach to traditional design approach. And also a case history is analyzed in that point of view.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.995-1001
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• 2016

The vehicle suspension system plays a very important part related with vehicle ride and handling. To improve the vehicle ride and handling many researches have been progressed from various damping parameter tuning techniques to the development of the electronic controlled suspension systems. In this paper, as one of the ride performance improvement a disturbance observer(DOB) based control system is applied to the quarter car vehicle model in order to show that the DOB can obtain good vibration isolation characteristics. First, the robust stability criterion for the DOB is introduced in detail, and then how DOB is applied to the 1/4 car vehicle model is represented, and finally to confirm the effectiveness of the DOB in vehicle ride performance improvement a computer simulation is carried out for various driving conditions.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.6
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• pp.9-14
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• 2005

In this paper, we consider the synthesis of non-fragile $H_{\infty}$ state feedback controllers for singular systems and static state feedback controller with multiplicative uncertainty. The sufficient condition of controller existence, the design method of non-fragile $H_{\infty}$ controller, and the measure of non-fragility in controller are presented via LMI(linear matrix inequality) technique. Also, the sufficient condition can be rewritten as LMI form in terms of transformed variables through singular value decomposition, some changes of variables, and Schur complements. Therefore, the obtained non-fragile $H_{\infty}$ controller guarantees the asymptotic stability and disturbance attenuation of the closed loop singular systems within a prescribed degree. Moreover, the controller design method can be extended to the problem of robust and non-fragile $H_{\infty}$ controller design method for singular systems with parameter uncertainties. Finally, a numerical example is given to illustrate the design method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.3A
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• pp.282-290
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• 2006

In this paper, we propose an enhanced Timing Estimator algorithm for 2.45GHz LR-WPAN receiver. Because an expensive and highly efficient oscillator can't be used for low-cost implementation, a Timing Estimator algorithm having stable operation in the channel environment with center frequency tolerance of 80 ppm is required. To enhance the robustness to frequency offset and the stability of receiver performance, multiple delay differential filter is adopted. By utilizing the characteristic that the correlation result between the output signal of Multiple delay differential filter and reference signal is restricted on the In-phase part of the correlator output, a coherent detection scheme instead of the typical noncoherent one is adopted for Timing Estimator. The application of the coherent detection scheme is suitable for LR-WPAN receiver aimed at low-cost, low-power, and low-complexity, since it can remove performance degradation due to squaring loss of I/Q squaring operation and decrease implementation complexity. Computer simulation results show that the proposed algorithm achieved performance improvement compared with the differential detection-based noncoherent scheme by 2dB in average.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.6
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• pp.83-89
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• 2012

This paper proposes the design of a security-enhanced RFID authentication protocol which meets the privacy protection for tag bearers. The protocol which uses AES(Advanced Encryption Standard) cipher algorithm is based on a three-way challenge response authentication scheme. In addition, three different types of protocol packet formats are also presented by extending the ISO/IEC 18000-3 standard for realizing the security-enhanced authentication mechanism in RFID system environment. Through the comparison of security, it was shown that the proposed scheme has better performance in user data confidentiality, Man-in-the-middle replay attack, and replay attack, and forgery resistance, compared with conventional some protocols. In order to validate the proposed protocol, a digital Codec of RFID tag is also designed based on the protocol. This Codec has been described in Verilog HDL and also synthesized using Xilinx Virtex XCV400E device.

• Journal of Advanced Navigation Technology
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• v.26 no.4
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• pp.226-234
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• 2022

With advances in autonomous vehicles and networked control, there is a growing interest in the consensus control of a multi-agents system to control multi-agents with distributed control beyond the control of a single agent. Since consensus control is a distributed control, it is bound to have delay in a practical system. In addition, it is often difficult to have a very accurate mathematical model for a system. Even though a reinforcement learning (RL) method was developed to deal with these issues, it often experiences slow convergence in the presence of large uncertainties. Thus, we propose a slide RL which combines the sliding mode control with RL to be robust to the uncertainties. The structure of a sliding mode control is introduced to the action in RL while an auxiliary sliding variable is included in the state information. Numerical simulation results show that the slide RL provides comparable performance to the model-based consensus control in the presence of unknown time-varying delay and disturbance while outperforming existing state-of-the-art RL-based consensus algorithms.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.15 no.1
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• pp.102-108
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• 2016

A flying drone generates vibrations in a great variety of frequencies, and it requires a gimbal system stabilization loop design in order to obtain clean and accurate image from the camera attached to the drone under this environment. The gimbal system for drone comprises the structure that supports the camera module and the stabilization loop which follows the precise angle while blocking the vibration from outside. This study developed a dynamic model for one axis for the stabilization loop design of a gimbal system for drones and applied classical PID controller and intelligent PID controller. The Stabilization loop design was developed by using MATLAB/Simulink and compared the performance of each controller through simulation. Especially, the intelligent PID controller can be designed almost without the dynamic model and it demonstrates that the angle can be followed without readjusting the parameters of the controller even when the characteristics of the model changes.