• 제어로봇시스템학회논문지
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• 제17권11호
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• pp.1154-1158
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• 2011

In this paper, we discuss an observer-based fault tolerant controller design for the T-S (Takagi-Sugeno) fuzzy system with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.143-146
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• 1997

In this paper, we propose a fuzzy-supervised nonlinear H$_{\infty}$ controller which guarantees the robustness and has exact tracking performance for robot manipulator with system parameter uncertainty and exogenous disturbance, The proposed controller which is based on robotic H$_{\infty}$ controller has fuzzy supervisor which decides the optimal control input weighting value through fuzzy making-decision process. Owing to the fuzzy supervisor, The proposed controller can take the optimal control input. Then, we will apply the proposed controller to rigid robot manipulator to verify the performance of our controller.r.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.501-507
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• 2007

This paper presents a new algorithm for the closed-loop $H_{\infty}$ control of a class of singularly perturbed nonlinear systems with an exogenous disturbance, using the successive Galerkin approximation (SGA). The singularly perturbed nonlinear system is decomposed into two subsystems of a slow-time scale and a fast-time scale in the spirit of the general theory of singular perturbation. Two $H_{\infty}$ control laws are obtained to each subsystem by using the SGA method. The composite control law that consists of two $H_{\infty}$ control laws of each subsystem is designed. One of the purposes of this paper is to design the closed-loop $H_{\infty}$ composite control law for the singularly perturbed nonlinear systems via the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.407-412
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• 2012

In this paper, we discuss an observer-based fault tolerant controller design for the unmanned aerial vehicle (UAV) systems with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2037-2039
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• 2002

This paper focuses on robust $H_{\infty}$ control for bilinear systems with time-varying parameter uncertainties via state feedback. The suitable robustly stabilizing feedback control law can be constructed in term of solution to a state variable x-dependent quadratic Riccati equation using successive approximation technique. Also, the state feedback control law robustly stabilizes the plant and guarantees a robust $H_{\infty}$ performance for the closed-loop bilinear system with parameter uncertainties and exogenous disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.151-156
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• 1998

In this paper, we present new control method for robot manipulators. The design objective can be the implementation of minimax controller with H$_{\infty}$ performance via LMI approach to guarantee the robustness and to obtain the exact tracking performance for robot manipulators with system parameter uncertainty and exogenous disturbance. We show that the Algebraic Riccati equation (ARE) which is needed for the construction of H$_{\infty}$ controller can be recast into the Algebraic Riccati Inequality (ARI) and the optimal control gain can be obtained by convex optimization method. Then, we will apply the proposed controller to rigid robot manipulators for verifying the performance of our controller.

• International Journal of Control, Automation, and Systems
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• 제4권6호
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• pp.689-696
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• 2006

This paper presents a new algorithm for the closed-loop $H_{\infty}$ composite control of weakly coupled bilinear systems with time-varying parameter uncertainties and exogenous disturbance using the successive Galerkin approximation(SGA). By using weak coupling theory, the robust $H_{\infty}$ control can be obtained from two reduced-order robust $H_{\infty}$ control problems in parallel. The $H_{\infty}$ control theory guarantees robust closed-loop performance but the resulting problem is difficult to solve for uncertain bilinear systems. In order to overcome the difficulties inherent in the $H_{\infty}$ control problem, two $H_{\infty}$ control laws are constructed in terms of the approximated solution to two independent Hamilton-Jacobi-Isaac equations using the SGA method. One of the purposes of this paper is to design a closed-loop parallel robust $H_{\infty}$ control law for the weakly coupled bilinear systems with parameter uncertainties using the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.407-412
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• 2004

This paper presents a new algorithm for the closed-loop $H_{\infty}$ composite control of singularly perturbed nonlinear systems with a exogenous disturbance, using the successive Galerkin approximation(SGA). The singularly perturbed nonlinear system is decomposed into two subsystems of a slow-time scale and a fast-time scale via singular perturbation theory, and two $H_{\infty}$ control laws are obtained to each subsystem by using the SGA method. The composite control law that consists of two $H_{\infty}$ control laws of each subsystem is designed. One of the purposes of this paper is to design the closed-loop $H_{\infty}$ composite control law for the singularly perturbed nonlinear systems via the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.

• Journal of Electrical Engineering and Technology
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• 제6권6호
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• pp.750-759
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• 2011

This paper focuses on the control of bidirectional power flow in the electric shipboard power systems, especially in the Medium-Voltage Direct Current (MVDC) shipboard power system. Bidirectional power control between the main MVDC bus and the local zones can improve the energy efficiency and control flexibility of electric ship systems. However, since the MVDC system contains various nonlinear loads such as pulsed power load and radar in various subsystems, the voltage of the MVDC and the local zones varies significantly. This voltage variation affects the control performance of the bidirectional DC-DC converters as exogenous disturbances. To improve the control performance regardless of uncertainties and disturbances, this paper proposes a novel controller design method of the bidirectional DC-DC converters using $L_1$ control theory and intelligent optimization algorithm. The performance of the proposed method is verified via large-scale real-time digital simulation of a notional shipboard MVDC power system.

• The Plant Pathology Journal
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• 제24권1호
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• pp.24-30
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• 2008

Colletotrichum gloeosporioides forms an appressorium, a specialized infection structure, to infect its hosts. Among 400 and 600 culture filtrates from fungi and class Actinomycetes, six methanol extracts (A5005, A5314, A5387, A5560, A5597, and A5598) from the class Actinomycetes significantly inhibited appressorium formation in C. gloeosporioides infecting pepper fruits in a dose-dependent manner, while conidial germination was slightly enhanced. Two (A5005 and A5560) of them also exhibited distinctive inhibitory effect on the disease progress of pepper anthracnose. Water fractions of both culture filtrates also specifically inhibited appressorium formation in C. gloeosporioides and pepper anthracnose disease. Inhibition of appressorium formation by culture filtrate of A5005 was partially restored by the exogenous calcium. This results suggests that chemicals within A5005 extents its biological activity through disturbance of intracellular $Ca^{2+}$ regulation during prepenetration morphogenesis by C. gloeosporioides. Together, cell-based and target-oriented screening system used in this study should be applicable for other plant pathogenic fungi prerequisite appressorium formation to infect their hosts.