• 한국항공우주학회지
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• 제35권5호
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• pp.412-418
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• 2007

본 논문에서는 충돌각 구속조건을 갖는 비행체 호밍 제어 유도법칙에 대한 역최적 문제를 제시한다. 편향비례항법 유도법칙의 이득과 LQ 문제에서의 가중치와의 관계를 규명하고, Riccati 방정식으로부터 제어입력이 LQ 최적제어가 되기 위한 영역을 제시한다. 이를 근거로 종말 구속조건을 만족하는 호밍 유도법칙의 제어이득이 최적제어법칙이 되기 위한 범위를 제안한다. 이론적 해석 결과의 타당성은 3-DOF 모의시험을 통하여 확인한다.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.434-441
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• 2015

In this paper, we propose an inverse optimal distributed protocol for the formation and velocity consensus of nonholonomic mobile robots. The communication among mobile robots is described by a simple undirected graph, and the mobile robots' kinematics are considered. The group of mobile robots driven by the proposed protocols asymptotically achieves the desired formation and group velocity in an inverse optimal fashion. The design of the protocols is based on dynamic feedback linearization and the proposed linear quadratic (LQ) inverse optimal second-order consensus protocol. A numerical simulation is given to verify the effectiveness of the proposed scheme.

• Journal of Power Electronics
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• 제4권4호
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• pp.228-236
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• 2004

This paper describes the optimal current-control of a permanent magnet synchronous motor by the use of robust and simple current controllers, based upon the analytical procedure known as the inverse LQ (ILQ) design method. The ILQ design method is a strategy for finding the optimal gains based on pole assignment without solving the Riccati equation. It is very important to keep the motor in robust servo-lock. By experiments and simulations, we will show that the ILQ optimal servo-system with servo-lock is more insensitive at low speeds to variations in armature inductance than the standard PI servo-system. Variations in armature inductance have the greatest influence on the responses of a servo-system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.25-29
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• 2003

LQ actuator selection problem for multi-input system discussed in this paper is to determine optimal actuator out of many actuators and input sequences so as to minimize the quadratic control performance. The solution of this problem depends on initial values and has a combinatorial property, so it is extremely difficult to get an optimal solution. For this difficulty, we proposed the concept of comparability of actuators and showed the uniqueness of the solution[1] . Further, to get general optimal solution for LQ problem with actuator selection strategies, we derived the equivalent condition for the comparability of actuator in single-input system . In this paper we extend this result to the case of multi-input system. The derived sufficient condition is applicable in the case of positive semi-definite comparability matrices.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 D
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• pp.841-843
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• 1997

In this paper we present a Genetic approach to select weighting matrices of LQ(Linear Quadratic) controller for optimal TCSC(Thyristor Controlled Series Capacitor) control. A design of LQ controller depends on choosing weighting matrices. The selection of weighting matrices is usually carried out by trial and error, which is not a trivial problem. We proposed a efficient method using GA of finding weighting matrices for optimal control law. The proposed GA method was applied to design LQ controller of TCSC in one machine infinite bus system and showed good results.

• 한국추진공학회지
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• 제24권2호
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• pp.52-60
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• 2020

본 논문에서는 개방형 액체로켓엔진의 제어 알고리즘을 다룬다. 이를 위해 엔진의 각 구성품들을 기준으로 수학적 모델링을 하였으며 추력제어를 위하여 연소실 압력을 피드백하여 제어시스템을 구축하였다. 제어시스템을 위하여 최대추력 상태에서 선형 모델을 이용하여 최적 출력피드백 LQ 추종 제어기를 설계하였으며 시뮬레이션을 통해 제어기의 성능을 검증하였다.

• 한국자동차공학회논문집
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• 제8권2호
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• pp.102-109
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• 2000

This paper deals with an observer-based preview control for semi-active suspensions. An Observer has been designed such that all the state variables and road inputs can be estimated from accelerations. Since the road input to the rear wheels is a delayed version of that to the front wheels, it can be obtained by estimating the road input to the front wheels without preview the estimated values of state and the estimated road input has been investigated. The results show that the observer-based control can provide good performance. The observer-based preview control improves the dynamic behavior of the rear axle and that of pitch motion compared to the LQ optimal control.

• 대한기계학회논문집
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• 제19권9호
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• pp.2142-2153
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• 1995

A digital preview controller using optimal LQ control theory is suggested for tandem cold mills to achieve a remarkable improvement of the thickness accuracy. Optimal preview control system is constructed for each rolling stand of tandem cold mills for which the blocked noninteracting control is carried out, and it is compared with the optimal LQ control system which has only feedback control. And in the cases that all/some of disturbance inputs are previewable, full and partial preview controllers are designed, and their performance effects are compared and discussed. The simulation results show that the performance of tandem cold mills can be improved largely through partial preview control.

• 수산해양기술연구
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• 제33권2호
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• pp.141-148
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• 1997

This paper is concerned with the vibration control of multi-layer structure for ultra-tall buildings and main tower of large bridge etc. We have modeled the multi-layer structure with the distributed mass system as the lumped mass system of two-degree-of-freedom structure and made experimental equipment. The LQ optimal control theory is applied to the design of the control system. The designed control system is simulated by computer. As a result, the LQ regulator showed good vibration control performance with impact excitation.

• Journal of Advanced Marine Engineering and Technology
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• 제26권5호
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• pp.544-553
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• 2002

The recent amount of container freight continuously has been increased, but the low efficiency of container crane causes jamming frequently in transportation and cargo handling at port. It is required that the working velocity and safety are improved by control of moving the trolley as quick as possible without large overshoot and any residual swing motion of container at the destination. In this paper, a LQ controller for a container crane is proposed to accomplish an optimal design of improved control system for minimizing the swing motion at destination. In this scheme a mathematical model for the system is obtained in state space form. Finally, the effectiveness of the proposed controller is verified through computer simulation.