• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.515-515
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• 2000

The performance of dynamic path following of a wheeled mobile robot with nonholonomic constraints has some drawbacks such as the influence of the initial state. The drawbacks can be overcome by the temporary path generator and modified output. But with the previous input-output linearization method using them, it is difficult to tune the gains, and if there are some modeling errors, the low gain can make the system unstable. And if a high gain is used to overcome the model uncertainties, the control inputs are apt to be large so the system can be unstable. In this paper. an H$_{\infty}$ controller is designed to guarantee robustness to model parameter uncertainties and to consider the magnitude of control inputs. And the solution to Hamilton Jacobi (HJ) inequality, which is essential to H$_{\infty}$ control design, is obtained by nonlinear matrix inequality (NLMI).

• 한국지능시스템학회논문지
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• 제19권6호
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• pp.840-847
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• 2009

This paper deals with an $H_{\infty}$ output feedback controller design for uncertain singularly perturbed T-S fuzzy systems. Integral quadratic constraints are used to describe various kinds of uncertainties of the plant. It is shown that the $H_{\infty}$ norm of the uncertain singularly perturbed fuzzy system is less than $\gamma$ for a sufficiently small $\varepsilon$ > 0 if the $H_{\infty}$ norms of both the slow and fast subsystem are less than $\gamma$. Using this fact, we develop a linear matrix inequality based design method which is independent of the singular perturbation parameter $\varepsilon$. A numerical example is provided to demonstrate the efficacy of the proposed design method.

• Korean Journal of Mathematics
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• 제30권3호
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• pp.475-489
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• 2022

This paper focuses on a robust semi-infinite interval-valued optimization problem with uncertain inequality constraints (RSIIVP). By employing the concept of LU-optimal solution and Extended Mangasarian-Fromovitz Constraint Qualification (EMFCQ), necessary optimality conditions are established for (RSIIVP) and then sufficient optimality conditions for (RSIIVP) are derived, by using the tools of convexity. Moreover, a Wolfe type dual problem for (RSIIVP) is formulated and usual duality results are discussed between the primal (RSIIVP) and its dual (RSIWD) problem. The presented results are demonstrated by non-trivial examples.

• 대한교통학회지
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• 제18권1호
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• pp.61-73
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• 2000

이 논문은 변동부등식을 제약조건으로 하는 연속형 변수의 가로망 설계 문제를 풀기 위한 해석 알고리즘을 제시하는 것을 목적으로 한다. 가로망 설계 문제는 문제의 특성상 비선형의 목적함수와 비선형. 비볼록한 제약식으로 인해 다수의 국지해를 갖으며, 이러한 여러 국지해 중 가장 최적의 해를 구하는 것에 관심이 모아지고 있다. 전역 최적해를 찾을 수 있는 기존의 방법들은 확률적 최적화 방법에 속하는데 이 논문에서는 유전자 알고리즘의 접근법을 사용하여 2개의 다른 예제 가로망에서 5개의 서로 다른 해석 알고리즘에 대한 비교를 행하였으며. 그 해석결과를 기술하였다. 이 논문에서 사용된 정책결정자의 설계 변수는 가로망상 링크의 용량 변수이며, 연속형 변수의 어떤 설계 변수에도 적절한 변환과정을 거쳐 사용이 가능하다.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.460-467
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• 2018

Metaheuristic optimization approach has become the new framework for control synthesis. The main purposes of the control design are command (input) tracking and load (disturbance) regulating. This article proposes an optimal proportional-integral-derivative (PID) controller design for the DC motor speed control system with tracking and regulating constrained optimization by using the cuckoo search (CS), one of the most efficient population-based metaheuristic optimization techniques. The sum-squared error between the referent input and the controlled output is set as the objective function to be minimized. The rise time, the maximum overshoot, settling time and steady-state error are set as inequality constraints for tracking purpose, while the regulating time and the maximum overshoot of load regulation are set as inequality constraints for regulating purpose. Results obtained by the CS will be compared with those obtained by the conventional design method named Ziegler-Nichols (Z-N) tuning rules. From simulation results, it was found that the Z-N provides an impractical PID controller with very high gains, whereas the CS gives an optimal PID controller for DC motor speed control system satisfying the preset tracking and regulating constraints. In addition, the simulation results are confirmed by the experimental ones from the DC motor speed control system developed by analog technology.

• Structural Engineering and Mechanics
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• 제23권4호
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• pp.431-447
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• 2006

A new incremental finite element model is developed to simulate the frictional contact of elastic bodies. The incremental convex programming method is exploited, in the framework of finite element approach, to recast the variational inequality principle of contact problem in a discretized form. The non-classical friction model of Oden and Pires is adopted, however, the friction effect is represented by an equivalent non-linear stiffness rather than additional constraints. Different parametric studies are worked out to address the versatility of the proposed model.

• Journal of applied mathematics & informatics
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• 제28권3_4호
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• pp.823-835
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• 2010

In this paper, A FSQP algorithm for degenerate inequality constraints optimization problems is proposed. At each iteration of the proposed algorithm, a feasible direction of descent is obtained by solving a quadratic programming subproblem. To overcome the Maratos effect, a higher-order correction direction is obtained by solving another quadratic programming subproblem. The algorithm is proved to be globally convergent and superlinearly convergent under some mild conditions. Finally, some preliminary numerical results are reported.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.21-21
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• 2000

In this paper, we design the state feedback gain using linear matrix inequality(LMI) to the multiobjective synthesis, in the magnetic bearing system with integral type servo system. The design objectives can be a H$\_$$\infty$/ performance, asymptotic disturbance rejection, time-domain constraints, on the closed-lnp pole location. To the end, we investigated the validity of the designed controller through results of simulation.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(5)
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• pp.29-32
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• 2001

This paper presents matrix inequality conditions for H$_2$optimal control of linear time-invariant descriptor systems in continuous and discrete time cases, respectively. First, the necessary and sufficient condition for H$_2$control and H$_2$controller design method are expressed in terms of LMls(linear matrix inequalities) with no equality constraints in continuous time case. Next, the sufficient condition for H$_2$control and H$_2$controller design method are proposed by matrix inequality approach in discrete time case. A numerical example is given in each case.

• Journal of Astronomy and Space Sciences
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• 제21권3호
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• pp.209-220
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• 2004

Some methods have been presented to get optimal formation trajectories in the step of configuration or reconfiguration, which subject to constraints of collision avoidance and final configuration. In this study, a method for optimal formation trajectory-planning is introduced in view of fuel/time minimization using parameter optimization technique which has not been applied to optimal trajectory-planning for satellite formation flying. New constraints of nonlinear equality are derived for final configuration and constraints of nonlinear inequality are used for collision avoidance. The final configuration constraints are that three or more satellites should be placed in an equilateral polygon of the circular horizontal plane orbit. Several examples are given to get optimal trajectories based on the parameter optimization problem which subjects to constraints of collision avoidance and final configuration. They show that the introduced method for trajectory-planning is well suited to trajectory design problems of formation flying missions.