• 제어로봇시스템학회논문지
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• 제20권5호
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.398-409
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• 2013

This paper provides an overview of distance-based formation control. Firstly, in this paper, we introduce preliminary background materials that are used in defining the distance-based formation control. Then, based on the preliminary background, we briefly review main results developed thus far in this field. Lastly, we provide some issues that need to be studied further in future works.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 A
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• pp.422-424
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• 2002

Many methods about real power flow tracing have been suggested. Electric power industrials and organizations of the world use the method which is best suitable to themselves in practical aspects. In this paper we calculate the real power transfer between individual generators and loads referencing the method introduced by oversea's paper. It is considered to be significant to the wholesale competition market and transmission open access. Based on ac load flow solution and graph theory, the simulation on IEEE 30-bus system are carried out and the results are compared with that of oversea's paper. Also the simulation on the power system of Korea is carried out and the results are analyzed.

• 제어로봇시스템학회논문지
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• 제16권8호
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• pp.756-760
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• 2010

In this paper, a new method to recognize various motions of fighting with an aid of HMM is proposed. There are four kinds of fighting motion such as hook, jab, uppercut, and straight as the fighting motion. The motion graph is generalized to define each motion in motion data and the new 3D-chain code is used to convert motion data to motion graphs. The recognition experiment has been performed with HMM algorithm on motion graphs. The motion data is captured by a motion capture system developed in this study and by five actors. Experimental results are given with relatively high recognition rate of at least 85%.

• 제어로봇시스템학회논문지
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• 제14권4호
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• pp.392-398
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• 2008

We propose a new path planning method for autonomous mobile robots. To maximize the utility of mobile robots, the collision-free shortest path should be generated by on-line computation. In this paper, we develop an effective and practical method to generate a good solution by lower computation time. The initial path is obtained from skeleton graph by Dijkstra's algorithm. Then the path is improved by changing the graph and path dynamically. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.213-220
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• 2008

The object of this paper is to propose a method to deal with the problem of modeling user specifications in approaches based on supervisory control and Petri nets. However, most of Petri Net approaches are based on forbidden states specifications, and these specifications are suitable the use of tool such as the reachability graph. But these methods were not able to show the user specification easily and these formalisms are generally limited by the combinatorial explosion that occurs when attempting to model complex systems. Herein, we propose a new efficient method using FSSTP (Forbidden Sequences of State-Transitions Problem) and theory of region. Also, to detect and avoid the deadlock problem in control process, we use DAPN method (Deadlock Avoidance Petri nets) for solving this problem in control model.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.477-482
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• 2016

This paper presents a simple approximation-based design approach for consensus tracking of heterogeneous second-order nonlinear systems under a directed network. All nonlinearities of followers are assumed to be unknown and non-identical. In the controller design procedure, graph-independent error surfaces are used and an unimplementable intermediate controller for each follower is designed at the first design step. Then, by adding and subtracting a graph-based term at the second step, the actual controller for each follower is designed by using one neural network employed to estimate a lumped and distributed nonlinearity. Therefore, the proposed local controller for each follower has a simpler structure than existing approximation-based consensus tracking controllers for multi-agent systems with unmatched nonlinearities.

• 유공압시스템학회:학술대회논문집
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• 유공압시스템학회 2010년도 춘계학술대회
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• pp.75-80
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• 2010

The paper is that study method to reduce bad influence that act to the floating fish cage by effect of environment in sea. Fish cage is controlled buoyancy using air control. According to marine environment, it is descend automatically to set-up depth and rise on the surface of the sea. The paper is the preceding research for a practical application. The fish cage simplified with the spherical float body. Then a control algorithm and a program developed by the experiment. And we did modelling by bond graph technique, and controlled by the practical reference model for PID control.

• 대한수학회지
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• 제56권4호
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• pp.857-867
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• 2019

Suppose that G = (V, E) is a connected locally finite graph with the vertex set V and the edge set E. Let ${\Omega}{\subset}V$ be a bounded domain. Consider the following quasilinear elliptic equation on graph G $$\{-{\Delta}_{pu}={\lambda}K(x){\mid}u{\mid}^{p-2}u+f(x,u),\;x{\in}{\Omega}^{\circ},\\u=0,\;x{\in}{\partial}{\Omega},$$ where ${\Omega}^{\circ}$ and ${\partial}{\Omega}$ denote the interior and the boundary of ${\Omega}$, respectively, ${\Delta}_p$ is the discrete p-Laplacian, K(x) is a given function which may change sign, ${\lambda}$ is the eigenvalue parameter and f(x, u) has exponential growth. We prove the existence and monotonicity of the principal eigenvalue of the corresponding eigenvalue problem. Furthermore, we also obtain the existence of a positive solution by using variational methods.

• 대한수학회지
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• 제58권1호
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• pp.109-122
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• 2021

In this paper, we consider the problem of finding the hypersurface Mn in the Euclidean (n + 1)-space ℝn+1 that satisfies an equation of mean curvature type, called singular minimal hypersurface equation. Such an equation physically characterizes the surfaces in the upper half-space ℝ+3 (u) with lowest gravity center, for a fixed unit vector u ∈ ℝ3. We first state that a singular minimal cylinder Mn in ℝn+1 is either a hyperplane or a α-catenary cylinder. It is also shown that this result remains true when Mn is a translation hypersurface and u is a horizantal vector. As a further application, we prove that a singular minimal translation graph in ℝ3 of the form z = f(x) + g(y + cx), c ∈ ℝ - {0}, with respect to a certain horizantal vector u is either a plane or a α-catenary cylinder.