• Journal of Electrical Engineering and Technology
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• 제4권4호
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• pp.566-569
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• 2009

In this paper, we propose a less conservative a linear matrix inequality (LMI) condition for the constrained robust model predictive control of systems with input constraints and polytopic uncertainty. Systems with input constraints are represented as perturbed systems with sector bounded conditions. For the infinite horizon control, closed-loop stability conditions are obtained by using a parameter dependent Lyapunov function. The effectiveness of the proposed method is shown by an example.

• 품질경영학회지
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• 제26권4호
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• pp.151-165
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• 1998

Consider the linear multivariate regression model $Y=X_1B_1＋X_2B_2＋U$, where Vec(U)~N(0, $\sum \bigotimes I_N$). This paper is concerned with Bayes infreence of the model when it is suspected that the elements of $B_2$ are constrained in the form of intervals. The use of the Gibbs sampler as a method for calculating Bayesian marginal posterior desnities of the parameters under a generalized conjugate prior is developed. It is shown that the a, pp.oach is straightforward to specify distributionally and to implement computationally, with output readily adopted for required inference summaries. The method developed is a, pp.ied to a real problem.

• 한국경영과학회지
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• 제38권1호
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• pp.45-59
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• 2013

A long-term forecasting method for a new product in early stage of diffusion is proposed. The method includes a constrained non-linear least square estimation with the logistic diffusion model. The constraints would be critical market informations such as market potential, peak point, and take-off. Findings on 20 cases having almost full life cycle are that (i) combining any market information improves the forecasting accuracy, (ii) market potential is the most stable information, and (iii) peak point and take-off information have negative effect in case of overestimation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.377-382
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• 2005

This paper presents a new method for the attitude control of planar space robots. In order to control highly constrained non-linear system such as a 3D space robot, the analytical formulation for the system with complex dynamics and effective control methodology based on the formulation, are not always obtainable. In the proposed method, correspondingly, a non-analytical but effective self-organizing modeling method for controlling a highly constrained system is proposed based on a polynomial data mining algorithm. In order to control the attitude of a planar space robot, it is well known to require inputs characterized by a special pattern in time series with a non-deterministic length. In order to correspond to this type of control paradigm, we adopt the Model Predictive Control (MPC) scheme where the length of the non-deterministic horizon is determined based on implementation cost and control performance. The optimal solution to finding the size of the input pattern is found by a solving two-stage programming problem.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 춘계학술대회논문집
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• pp.1032-1038
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• 2002

The Active Constrained Layer Damping(ACLO) combines the simplicity and reliability of passive damping with the low weight and high efficiency of active control to attain high damping characteristics. The proposed ACLD treatment consists of a viscoelastic damping which is sandwiched between an active piezoelectric layer and a host structure. In this manner, the smart ACLD consists of a Passive Constrained Layer Damping(PCLD) which is augmented with an active control in response to the structural vibrations. The Arc type shell model is introduced to describe the interactions between the vibrating host structure, piezoelectric actuator and visco damping, The system is modeled by applying ARMAX model and changing a state-space form through the system identification method. An optimum control law for piezo actuator is obtain by LQR(Linear Quadratic Regulator) Method. The performance of ACLD system is determined and compared with PCLD in order to demonstrate the effectiveness of the ACLD treatment, Also, the actuation capability of a piezo actuator is examined experimentally by using various thickness of Viscoelastic Materials(VEM).

• 한국정밀공학회지
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• 제28권4호
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• pp.391-397
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• 2011

Control of interior permanent magnet (IPMSM) is difficult because its nonlinearity and parameter uncertainty. In this paper, a fuzzy c-regression models clustering algorithm which is based on T-S fuzzy is used to model IPMSM with a series linear model and weight them by memberships. Lagrangian of constrained function is built for calculating clustering centers where training output data are considered. Based on these clustering centers, least square method is applied for T-S fuzzy linear model parameters. As a result, IPMSM can be modeled as T-S fuzzy model for T-S fuzzy control of them.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.552-558
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• 1993

In this paper, control of a planar two-link structurally flexible robotic manipulator executing unconstrained and constrained maneuvers is considered. The dynamic model, which is obtained by using the extended Hamilton's principle and the Galerkin criterion, includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 한국정밀공학회지
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• 제16권5호통권98호
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• pp.169-174
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• 1999

In this paper, the CLQR(Constrained LQR) controller, which considers the actuator saturation in a cross-product term of a given performance index for an automotive active suspension control has been proposed. The effects of actuator saturations have been reflected directly in the states by using the linear relation between the control input and states. The method proposed here is more effective and intuitive compared with the conventional schemes. The CLQR has been applied to designing an automotive active suspension control system to verify its effectiveness and practical aspects.

• 대한산업공학회지
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• 제6권2호
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• pp.21-29
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• 1980

본(本) 연구(硏究)는 투자안(投資案)들간의 상호관계(相互關係) 및 위험(危險)을 고려한 자본예산문제(資本豫算問題)를 다루고 있다. 기존(旣存)의 개발(開發)된 모형(模型)은 확률제약조건계획모형(確率制約條件計劃模型) 및 기대효용극대화모형(期待效用極大化模型)의 두 범주(範疇)로 구분(區分)될 수 있다. 전자의 경우 목적함수(目的凾數)가 다소 제약적(制約的)이며 위험(危險)을 직접적인 형태로 고려하지 않고 있는 반면에 후자는 기대효용(期待效用)에 대한 근사치(近似値)를 사용하기 때문에 투자결정(投資決定)이 최적화(最摘化)되지 못할 가능성이 있다. 본(本) 연구(硏究)는 목적함수(目的凾數)를 보다 일반적(一般的)인 형태로 수정(修正) 보완(補完)함으로써 현실적용성(現實適用性)을 높이고자 하였다. 해법절차(解法節次)로는, 자본예산문제(資本豫算問題)를 우선 비선형(非線型) 0-1 정수계획(整數計劃) 문제로 정식화(定式化)하고, 이를 선형(線型) 0-1 정수계획(整數計劃)문제로 변형(變形)하여 원문제(原問題)의 하한(下限)을 찾은 후 B&B 연산법(演算法)으로 원문제(原問題)의 최적해(最適解)를 구하고 있다.

• 한국정밀공학회지
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• 제25권6호
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• pp.134-142
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• 2008

In this paper, we propose a precise linear motion stage supported by magnetically preloaded air bearings. The eight aerostatic bearings with rectangular carbon porous pads were located only one side of vertical direction under the platen where four bearings are in both sides of horizontal direction as wrap-around-design, and this gives simpler configuration than which constrained by air bearings for all direction. Each of the magnetic actuators has a permanent magnet generating static magnetic flux far required preload and a coil to perturb the magnetic farce resulting adjustment of air- bearing clearance. The characteristics of porous aerostatic bearing are analyzed by numerical analysis, and analytic magnetic circuit model is driven for magnetic actuator to calculate preload and variation of force due to current. A 1-axis linear stage motorized with a coreless linear motor and a linear encoder was designed and built to verify this design concept. The load capacity, stiffness and preload force were examined and compared with analysis. With the active magnetic preloading actuators controlled with DSP board and PWM power amplifiers, the active on-line adjusting tests about the vertical, pitching and rolling motion were performed. It was shown that motion control far three DOF motions were linear and independent after calibration of the control gains.