• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.460-465
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• 2004

In this paper, we present some properties on receding horizon $H_{\infty}$ control for nonlinear discrete-time systems. First, we propose the nonlinear inequality condition on the terminal cost for nonlinear discrete-time systems. Under this condition, noninceasing monotonicity of the saddle point value of the finite horizon dynamic game is shown to be guaranteed. We show that the derived condition on the terminal cost ensures the closed-loop internal stability. The proposed receding horizon $H_{\infty}$ control guarantees the infinite horizon $H_{\infty}$ norm bound of the closed-loop systems. Also, using this cost monotonicity condition, we can guarantee the asymptotic infinite horizon optimality of the receding horizon value function. With the additional condition, the global result and the input-to-state stable property of the receding horizon value function are also given. Finally, we derive the stability margin for the saddle point value based receding horizon controller. The proposed result has a larger stability region than the existing inverse optimality based results.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.16-24
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• 2022

This paper presents a method that can reduce the computational cost of the hierarchical quadratic programming (HQP)-based robot controller. Hierarchical controllers can effectively manage articulated robots with many degrees of freedom (DoFs) to perform multiple tasks. The HQP-based controller is one of the generic hierarchical controllers that can provide a control solution guaranteeing strict task priority while handling numerous equality and inequality constraints. However, according to a large amount of computation, it can be a burden to use it for real-time control. Therefore, for practical use of the HQP, we propose a method to reduce the computational cost by decreasing the size of the decision variable. The computation time and control performance of the proposed method are evaluated by real robot experiments with a 15 DoFs dual-arm manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.852-857
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• 1990

The purpose of this paper is to design a robust controller for a class of time-varying systems with bounded disturbance described by the differential equation. The robust desiging method proposed in this paper, called "incentive design method" is different from developed designing methods in the past, and has following properties. The robust control law designed by this method can guarantee a certain value of the cost functional no matter how the disturbance vary within the given bounds. Here, the certain value of the cost functional may not be a saddle-point value, but is the value selected by a system designer. Therefore, the bounded disturbance has at least no bad effect on the value of the cost functional during finite interval of time. The method is based on the theory of incentive differential games. In addition, the form of control law is constructed by the system designer ahead of time. A numerical illustrative example is given in this paper. It is shown from this derivation and this numerical example that the approach developed in this paper is effective and feasible for some practical control problem.l problem.

• International conference on construction engineering and project management
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• 2011.02a
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• pp.256-261
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• 2011

Labor productivity is a significant factor related to control time, cost, and quality. Many researchers have developed models to define method of measuring the relationship between productivity and various constraints such as the size of working area, maximum working hours, and the crew composition. Most of the previous research has focused on estimating productivity; however, this research concentrates on estimating labor productivity and developing time and cost data for repetitive concrete pouring activity. In Korea, "Standard Estimating" only contains the average productivity data of the construction industry, and it is difficult to predict the time and cost of any particular project; hence, there are some errors in estimating duration and cost for individual activity and project. To address these issues, this research collects data, measures productivity, and develops time and cost data using labor productivity based on field conditions from the collected data. A probabilistic approach is also proposed to develop data. A case study is performed to validate this process using actual data collected from construction sites and it is possible that the result will be used as the EVMS baseline of cost management and schedule management.

• Journal of Korean Institute of Industrial Engineers
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• v.21 no.4
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• pp.555-570
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• 1995

We consider a preventive replacement policy for a cold-standby system with N components, in which only one component is in operation at a time. If the component in operation fails, a standby component is immediately switched into operation. If all components fail, the system fails. The system is inspected at random poins in time to determine whether it is to be replaced or not. If the number of failed components at the time of inspection exceeds a threshold value r, the system is replaced. Otherwise the decision is put off until the next inspection point arrives. Under the cost structure which includes a replacement cost, a system down-time cost and a holding cost of the components, we develop an efficient procedure to find the optimal control values N and r, which minimize the expected cost per unit time.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.921-926
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• 2007

A dynamic system under random disturbance is considered in the study. In order to control the system efficiently, proper reduction of system dimension is indispensible in design stage. The reduction method using component cost analysis in conjunction with stochastic analysis is proposed for the control of a system. System response is obtained in terms of dynamic moment equation via Fokker-Plank-Kolmogorov(F-P-K) equation. The dynamic moment response of the system under random disturbance are reduced by using of deterministic version of component cost analysis. The reduced system via proposed "stochastic component cost analysis" is successfully implemented for dynamic response and shows remarkable control performance effectively utilizing "stochastic controller" in physical time domain.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.21 no.45
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• pp.237-246
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• 1998

In most statistical process control(SPC), control charts are used in which samples are taken and a suitable statistic is determined and plotted. In these control charts, control limits, ${\mu}{\pm}textsc{k{\sigma}}$, from which a decision is made are mostly ${\mu}{\pm}3{\sigma}$ and current literature in control charts are mainly concerned with detecting a shift in the mean. Therefore, when $\sigma$ is increased considerably after a long time, using control limits set at the first time causes a great deal of economic loss. In this paper the solutions to determine new control limits which maximizes the profit per unit produced and reduce $\sigma$ to economically optimal level for a certain cost when $\sigma$ is increased due to process deterioration are proposed. By applying new control limits, $\alpha$ error decreases considerably compared to apply initial control limits when $\sigma$ is increased due to process deterioration. Therefore, false alarm investigation cost drops down to the level of initial a error. And also this solution provides useful information regarding replacement of a process when the process is reviewed regularly.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.13 no.3
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• pp.200-208
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• 2001

In indoor temperature control of a heat pump, a reduction in energy consumption is very important. However, most control schemes for heat pumps have focused only on control performance such s settling time and steady-state error. In this paper, the model predictive control (MPC) which includes the energy-related variable in this cost function is proposed. By computing the control signal minimizing this cost function, the trade-off between energy reduction and temperature control performance can be obtained. Since the MPC required the process model, the dynamic mode of a heat pump is also obtained by the system identification technique. Performance of the proposed MPC considering energy efficiency is compared with the two other control schemes. It si shown that the proposed scheme can consume less energy thant hte others in achieving similar control performance.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.3
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• pp.129-133
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• 2003

In this paper, we consider the robust guaranteed cost control problem for a class of uncertain neutral systems with given quadratic cost functions. The uncertainty is assumed to be norm-bounded and time-varying. The goal in this study is to design the memoryless state feedback controller such that the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound lot all admissible uncertainty. Some criteria for the existence of such controllers are derived based on the matrix inequality approach combined with the Lyapunov second method. A parameterized characterization of the robust guaranteed cost controllers is given in terms of the feasible solutions to the certain matrix inequalities. A numerical example is given to illustrate the proposed method.

• Journal of Korean Academy of Nursing
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• v.49 no.5
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• pp.586-600
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• 2019

Purpose: This study aimed to develop a web-based cost management program for visiting nursing centers (CMP-VNC), using time-driven activity-based costing (TD-ABC), and to analyze effects of the program. Methods: The CMP-VNC was developed using the combined prototyping approach and system developing life cycle method following four stages: need analysis with comprehensive literature reviews and focus group interviews, design and development of program algorithm, evaluation of the developed program validity using experts and users group, and application and effects analysis. The non-equivalent control group pretest-posttest design was used to analyze the effects of the program. The program demonstration was conducted for four weeks with 60 visiting nurses in 35 visiting centers. Results: The web-based program was developed. It has five interfaces with basic and special functions using TD-ABC, namely, input, visiting nursing activity, visiting nursing activity cost, cost efficiency, and cost calculation report. The experimental group showed significantly higher cost perception and cost confidence than control group. Conclusion: We found that the CMP-VNC can be an effective tool to increase visiting nurses' competency of costing and enhance efficiencies of visiting nursing centers.