• 제목/요약/키워드: Linear Quadratic Estimation

검색결과 79건 처리시간 0.023초

미지 입력을 가진 기계 시스템을 위한 비선형 관측기 설계 (Design of a Nonlinear Observer for Mechanical Systems with Unknown Inputs)

  • 송봉섭;이지민
    • 제어로봇시스템학회논문지
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    • 제22권6호
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    • pp.411-416
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    • 2016
  • This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

잔류가스분석기의 질량 스펙트럼 검출 성능 향상을 위한 잡음제거 알고리즘 (Noise Reduction Algorithm For The Detection of Fine Ion Signals in Residual Gas Analyzer)

  • 허경용;최훈
    • 전기학회논문지
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    • 제68권1호
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    • pp.102-107
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    • 2019
  • This paper proposes a method to improve the mass spectral detection performance of the residual gas analyzer. By improving the mode estimation method for setting the threshold value and improving the additive noise elimination method, it is possible to detect mass spectrums having low peak values of the threshold level difficult to distinguish from noise. Ion signal blocks for each mass index with noise removed by the improved method are effective for eliminating invalid ion signals based on the linear and quadratic fittings. The mass spectrum can be obtained from the quadratic fitted curves for the reconstructed ion signal block using only the valid ion signals. In addition, the resolution of the mass spectrum can be improved by correcting the error caused by the shift of the spectral peak position. To verify the performance of the proposed method, computer simulations were performed using real ion signals obtained from the residual gas analysis system under development. The simulation results show that the proposed method is valid.

Estimation of genetic parameters and trends for production traits of dairy cattle in Thailand using a multiple-trait multiple-lactation test day model

  • Buaban, Sayan;Puangdee, Somsook;Duangjinda, Monchai;Boonkum, Wuttigrai
    • Asian-Australasian Journal of Animal Sciences
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    • 제33권9호
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    • pp.1387-1399
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    • 2020
  • Objective: The objective of this study was to estimate the genetic parameters and trends for milk, fat, and protein yields in the first three lactations of Thai dairy cattle using a 3-trait,-3-lactation random regression test-day model. Methods: Data included 168,996, 63,388, and 27,145 test-day records from the first, second, and third lactations, respectively. Records were from 19,068 cows calving from 1993 to 2013 in 124 herds. (Co) variance components were estimated by Bayesian methods. Gibbs sampling was used to obtain posterior distributions. The model included herd-year-month of testing, breed group-season of calving-month in tested milk group, linear and quadratic age at calving as fixed effects, and random regression coefficients for additive genetic and permanent environmental effects, which were defined as modified constant, linear, quadratic, cubic and quartic Legendre coefficients. Results: Average daily heritabilities ranged from 0.36 to 0.48 for milk, 0.33 to 0.44 for fat and 0.37 to 0.48 for protein yields; they were higher in the third lactation for all traits. Heritabilities of test-day milk and protein yields for selected days in milk were higher in the middle than at the beginning or end of lactation, whereas those for test-day fat yields were high at the beginning and end of lactation. Genetics correlations (305-d yield) among production yields within lactations (0.44 to 0.69) were higher than those across lactations (0.36 to 0.68). The largest genetic correlation was observed between the first and second lactation. The genetic trends of 305-d milk, fat and protein yields were 230 to 250, 25 to 29, and 30 to 35 kg per year, respectively. Conclusion: A random regression model seems to be a flexible and reliable procedure for the genetic evaluation of production yields. It can be used to perform breeding value estimation for national genetic evaluation in the Thai dairy cattle population.

분산 제약을 갖는 비선형 시스템의 최적 퍼지 필터 (Optimal Fuzzy Filter for Nonlinear Systems with Variance Constraints)

  • 노선영;박진배;주영훈
    • 한국지능시스템학회논문지
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    • 제22권5호
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    • pp.549-554
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    • 2012
  • 본 논문에서는 추정 분산 제약을 갖는 비선형 이산시간에 대한 최적의 퍼지 필터에 대한 내용을 다루고자 한다. 필터를 설계할 때, 추정오차의 분산값은 필터의 성능이 결정하는 변수중 하나다. 이런 분산값에 더욱 강인한 필터를 설계하고자, 분산 제약 조건을 주어 필터를 설계하고자 한다. 먼저, 비선형 모델을 Tagaki-Sugeno 퍼지 모델을 이용하여 선형 모델로 변형한 후, 이 모델을 기반으로 선형 필터를 디자인한다. 이때 필터설계 과정 중 필터의 각 파라미터값을 구하기 위해 상태 추정오차 값은 평균제곱에 제한되며, 상태오차의 정상상태 분산값은 각각의 미리 정한 상한 제한 값 보다 작은 조건에서 필터를 설계하여 선형행렬부등식과 대수 이차 행렬부등식을 이용하여 파라미터값을 구한다. 이렇게 설계된 퍼지 필터는 트럭트레일러 시뮬레이션을 통해 설계 과정과 성능을 보여준다.

옵저버 이론의 원자로 지논 농도 최적제어에의 응용 (Observer Theory Applied to the Optimal Control of Xenon Concentration in a Nuclear Reactor)

  • Woo, Hae-Seuk;Cho, Nam-Zin
    • Nuclear Engineering and Technology
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    • 제21권2호
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    • pp.99-110
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    • 1989
  • 원자로 지논 농도의 최적 제어는 Linear Quadratic Regulator Problem이다. 지논 농도와 아이오다인 농도는 측정할 수 없기 때문에 최적 제어를 수행하기 위해서는 측정할 수 없는 상태 변수를 예측하는 것이 필요하다. 본 연구에서 사용된 예측방법은 Luenberger Observer를 기초로 했다. 원자로 상태 방정식은 빠른 상태 방정식(중성자 속, 핵연료 및 냉각재 온도)과 느린 상태 방정식(아이오다인, 지논)의 상호작용에 의해 Stiffness 문제가 발생되는데 이러한 시스템을 "Singularly Perturbed System"이라 한다. Stiffness문제를 해결하기 위해서 원 시스템을 느린 시스템과 빠른 시스템의 두 개의 모드로 나누는 Singular Perturbation Method를 사용한다. 예측기Observer를 이용한 원 시스템의 제어기는 느린 시스템과 빠른 시스템에 대한 분리된 예측기와 제어기의 설계에 의해 결정되어진다. 특히 원자로 상태 방정식에서는 빠른 모드는 빨리 사라지게 되므로 단지 느린 시스템에 대해서만 예측기를 설계하면 된다. 컴퓨터시뮬레이션을 통한 시험 결과는 원자로의 지논 진동은 Singular Perturbation Method와 예측기를 이용해서 거의 정확하게 효과적으로 짧은 시간내에 제어할 수 있음을 알았다.수 있음을 알았다.

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질량분석기를 위한 스펙트럼 검출 알고리즘의 개선 (Improvement of Spectrum Detection Algorithm for Mass Spectrometer)

  • 이영학;최훈
    • 한국정보통신학회논문지
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    • 제23권1호
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    • pp.47-54
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    • 2019
  • 질량 스펙트럼 분석 시스템을 위한 스펙트럼 검출 알고리즘의 개선 방법을 제안하였다. 질량지수별 이온신호블록에 대한 선형 근사 및 2차 커브피팅의 결과를 활용한 기존의 스펙트럼 검출 알고리즘에서 무효 이온신호 제거조건을 추가 개선함으로써 질량 스펙트럼 검출 시 발생하는 오검출을 개선할 수 있다. 또한 제안한 방법은 피크위치오차가 보정된 유효이온신호블록에 대한 2차 피팅 커브 의 결과를 사용하여 질량 스펙트럼의 피크값 추정오차를 줄일 수 있다. 제안한 방법의 유효성을 보이기 위해 실제 취득한 이온신호를 입력으로 알고리즘 단계별 컴퓨터 시뮬레이션을 수행하였다. 또한 다수의 입력에 대한 오검출 율을 비교함으로써 제안한 방법이 기존 방법에 비해 검출 성능이 우수함을 보였다.

An Extended Robust $H_{\infty}$ Filter for Nonlinear Constrained Uncertain System

  • Seo, Jae-Won;Yu, Myeong-Jong;Park, Chan-Gook;Lee, Jang-Gyu
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.565-569
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    • 2003
  • In this paper, a robust filter is proposed to effectively estimate the system states in the case where system model uncertainties as well as disturbances are present. The proposed robust filter is constructed based on the linear approximation methods for a general nonlinear uncertain system with an integral quadratic constraint. We also derive the important characteristic of the proposed filter, a modified $H_{\infty}$ performance index. Analysis results show that the proposed filter has robustness against disturbances, such as process and measurement noises, and against parameter uncertainties. Simulation results show that the proposed filter effectively improves the performance.

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강인한 관측기와 제어기를 적용한 공탄성 시스템의 응답특성 연구 (A Study on the Response Characteristics of Aeroelastic Systems Applying Robust Observer and Controller)

  • 정인주;나성수
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2004년도 추계학술대회논문집
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    • pp.115-120
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    • 2004
  • This paper concerns the active aeroelastic control of flapped wing systems exposed to blast and/or the sonic boom in an incompressible flow field. This is achieved via implementation of a robust estimation capability (sliding mode observer: SMO), and of the use of the deflected flap as to suppress the flutter instability or enhance the subcritical aeroelastic response to blast loads. To this end, a control methodology using LQG(Linear Quadratic Gaussian) in conjunction with SMO is implemented, and its performance toward suppressing flutter and reducing the vibrational level in the subcritical flight speed range is demonstrated. Moreover, its performances are compared to the ones provided via implementation of conventional LQG with Kalman filter.

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Semiparametric support vector machine for accelerated failure time model

  • Hwang, Chang-Ha;Shim, Joo-Yong
    • Journal of the Korean Data and Information Science Society
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    • 제21권4호
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    • pp.765-775
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    • 2010
  • For the accelerated failure time (AFT) model a lot of effort has been devoted to develop effective estimation methods. AFT model assumes a linear relationship between the logarithm of event time and covariates. In this paper we propose a semiparametric support vector machine to consider situations where the functional form of the effect of one or more covariates is unknown. The proposed estimating equation can be computed by a quadratic programming and a linear equation. We study the effect of several covariates on a censored response variable with an unknown probability distribution. We also provide a generalized approximate cross-validation method for choosing the hyper-parameters which affect the performance of the proposed approach. The proposed method is evaluated through simulations using the artificial example.

수도(水稻) 적정시비량(適正施肥量) 결정(決定)에 대한 대체모형(代替模型) (An Alternative Model for Determining the Optimal Fertilizer Level)

  • 장석환
    • 한국토양비료학회지
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    • 제13권1호
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    • pp.21-32
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    • 1980
  • Linear models, with and without site variables, have been investigated in order to develop an alternative methodology for determining optimal fertilizer levels. The resultant models are : (1) Model I is an ordinary quadratic response function formed by combining the simple response function estimated at each site in block diagonal form, and has parameters [${\gamma}^{(1)}_{m{\ell}}$], for m=1, 2, ${\cdots}$, n sites and degrees of polynomial, ${\ell}$=0, 1, 2. (2) Mode II is a multiple regression model with a set of site variables (including an intercept) repeated for each fertilizer level and the linear and quadratic terms of the fertilizer variables arranged in block diagonal form as in Model I. The parameters are equal to [${\beta}_h\;{\gamma}^{(2)}_{m{\ell}}$] for h=0, 1, 2, ${\cdots}$, k site variable, m=1, 2, ${\cdots}$ and ${\ell}$=1, 2. (3) Model III is a classical response surface model, I. e., a common quadratic polynomial model for the fertilizer variables augmented with site variables and interactions between site variables and the linear fertilizer terms. The parameters are equal to [${\beta}_h\;{\gamma}_{\ell}\;{\theta}_h$], for h=0, 1, ${\cdots}$, k, ${\ell}$=1, 2, and h'=1, 2, ${\cdots}$, k. (4) Model IV has the same basic structure as Mode I, but estimation procedure involves two stages. In stage 1, yields for each fertilizer level are regressed on the site variables and the resulting predicted yields for each site are then regressed on the fertilizer variables in stage 2. Each model has been evaluated under the assumption that Model III is the postulated true response function. Under this assumption, Models I, II and IV give biased estimators of the linear fertilizer response parameter which depend on the interaction between site variables and applied fertilizer variables. When the interaction is significant, Model III is the most efficient for calculation of optimal fertilizer level. It has been found that Model IV is always more efficient than Models I and II, with efficiency depending on the magnitude of ${\lambda}m$, the mth diagonal element of X (X' X)' X' where X is the site variable matrix. When the site variable by linear fertilizer interaction parameters are zero or when the estimated interactions are not important, it is demonstrated that Model IV can be a reasonable alternative model for calculation of optimal fertilizer level. The efficiencies of the models are compared us ing data from 256 fertilizer trials on rice conducted in Korea. Although Model III is usually preferred, the empirical results from the data analysis support the feasibility of using Model IV in practice when the estimated interaction term between measured soil organic matter and applied nitrogen is not important.

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