• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.5
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• pp.427-436
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• 2010

This paper deals with a task assignment problem of multiple UAVs performing multiple tasks on multiple targets. The task assignment problem of multiple UAVs is a kind of combinatorial optimization problems such as traveling salesman problem or vehicle routing problem, and it has NP-hard computational complexity. Therefore, computation time increases as the size of considered problem increases. To solve the problem efficiently, approximation methods or heuristic methods are widely used. In this study, the problem is formulated as a mixed integer linear program, and is solved by a mixed integer linear programming and a genetic algorithm, respectively. Numerical simulations for the environment of the multiple targets, multiple tasks, and obstacles were performed to analyze the optimality and efficiency of each method.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.107-116
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• 2003

This paper presents a systematic design methodology for fault tolerant controller against a fault in actuators and sensors of linear stochastic systems with uncertainties. The scheme is based on fault detection and diagnosis(isolation and estimation) using a bank of robust two-stage Kalman filters, and accommodation of the actuator fault by eigenstructure assignment and immediate compensation of the sensor's faulty measurement. In order to clarify the fault feature in test statistics of residual, noise reduction method is given by multi-scale discrete wavelet transform. The effectiveness of our approach Is shown via simulations for a VTOL(vertical take-off and landing) aircraft subjected to parameter variations, external disturbances, process and sensor noises.

• Structural Engineering and Mechanics
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• v.39 no.1
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• pp.147-168
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• 2011

To ensure safety and long term performance, structural control has rapidly matured over the past decade into a viable means of limiting structural responses to strong winds and earthquakes. Nonlinear response history analysis requires rigorous procedure to compute seismic demands. Therefore the simplified nonlinear analysis procedures are useful to determine performance of the structure. In this investigation, application of improved capacity demand diagram method in the control of structural system is presented for the first time. Developed pole assignment method (DPAM) in structural systems control is introduced. Genetic algorithm (GA) is employed as an optimization tool for minimizing a target function that defines values of coefficient matrices providing the placement of actuators and optimal control forces. The ground acceleration is modified under induced control forces. Due to this, performance of structure based on improved nonlinear demand diagram is selected to threshold of nonlinear behavior of structure. With small energy consumption characteristics, semi-active devices are especially attractive solutions for limiting earthquake effects. To illustrate the efficiency of DPAM, a 30-story steel moment frame structure employing the semi-active control devices is applied. In comparison to the widely used linear quadratic regulation (LQR), the DPAM controller was shown to be just as effective and better in the reduction of structural responses during large earthquakes.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.974-980
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• 2000

In this paper, we present a method that has flexibility of exact assignment of eigenstructure with the stochastic robustness for LTI(Linear-Time-Invariant) systems. The stochastic robustness of LTI systems is determined by the probability distributions of closed-loop eigenvalues. The probabilistic stability region is presented stochastically using the Monte Carlo evaluations. The proposed scheme is applied to designing a simple system and a flight control system with stochastic parameter variations to confirm the usefulness of the scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.854-870
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• 2000

This survey paper presents and overview on eigenstructure assignment (EA) control design methodologies. EA is an excellent control design method which may be used to assign the entire eigenstructure(eigenvalues, and right or left eigenvectors) of a closed-loop linear system via a full state or an output feedback control law. In general, EA is well-sutied for incorporating classical specifications on damping, settling time, and mode or disturbance decoupling into a modern multivariable control framework. The purpose of this paper is to provide an extensive survey on EA control design methods that might serve as an introduction to a study on EA. The fundamental concepts and formulations for understanding EA problems are extensively described. The recently reported results on EA are also presented.

• ETRI Journal
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• v.21 no.4
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• pp.9-22
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• 1999

This paper considers a problem of configuring both physical backbone and logical virtual path (VP) networks in a reconfigurable asynchronous transfer mode (ATM) network where links are subject to failures. The objective is to determine jointly the VP assignment, the capacity assignment of physical links and the bandwidth allocation of VPs, and the routing assignment of traffic demand at least cost. The network cost includes backbone link capacity expansion cost and penalty cost for not satisfying the maximum throughput of the traffic due to link failures or insufficient link capacities. The problem is formulated as a zero-one non-linear mixed integer programming problem, for which an effective solution procedure is developed by using a Lagrangean relaxation technique for finding a lower bound and a heuristic method exploited for improving the upper bound of any intermediate solution. The solution procedure is tested for its effectiveness with various numerical examples.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.536-539
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• 2004

In this paper, a brief discussion on I-PD position controller design for step motor drive is presented. The proposed method mainly focuses on the robustness property of the controller, which is very important for this type of system in which the variation of external load affects plant parameters. It is considered in this paper that two types of controller design methods namely; Coefficient Diagram Method (CDM), and arbitrary Pole Assignment Method (PAM) are treated and compared them. The control plant chosen for our study is a SM inherently is comprised of some non-linear elements. A the scope of the design method is limited to only linear time invariant systems, the SM modeling is approximated to linear system.

• Proceedings of the Korea Society for Simulation Conference
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• 1992.10a
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• pp.8-8
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• 1992

Through a simulation experiment, often an experimenter is concerned with estimating the system parameters of the linear model consisting of m design points from the outputs oft the simulation model. To improve the estimation of the system parameters and reliability of these estimators, appropriate simulation techniques have been developed. For the first order linear model, Schruben and Margolin (1978) exploited the random number assignment rules which uses a combination of common random numbers and antithetic streams in a simulation experiment designed to estimate the system parameters when the design matrix of simulation model admits orthogonal blocking into two blocks. Nozari, Arnold and Pegden (1984) developed a method for appliying the method of control variates to the situation of the linear model having multiple design points. This talk deals with a different way of utilizing controls under the correlation induction strategy of Schruben and Margolin's to improve the simulation efficiency, and presents a procedure for obtaining the estimators of the system parameters analytically. Simulation results on a selected simulation model indicate a promising evidence that a proposed method may yield better results than Schruben and Margolin's method.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.884-889
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• 1989

In this paper, a new procedure for selecting weighting matrices in linear discrete time quadratic optimal control problem (LQ-problem) is proposed. In LQ-problems, the quadratic weighting matrices are usually decided on trial and error in order to get a good response. But using the proposed method, the quadratic weights are decided in such a way that all poles of the closed loop system are located in a desired region for good responses as well as for stability and values of the quadratic cost function are kept less then a specified value.

• Journal of Navigation and Port Research
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• v.32 no.8
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• pp.621-628
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• 2008

Container terminals keenly compete with one another because of the continuous increase of container flows and the appearance of large-sized vessels. Major cargo handling equipment manufacturers are interested in the development of new conceptual equipment to greatly increase its productivity. In this study, a two-phase procedure is suggested for selecting the optimal development alternatives, when various development alternatives for container cranes are given. The first phase removes the alternatives that violate essential requirements and the second phase selects final alternatives by the evaluation of experts and the linear assignment method. Finally, a case applying the procedure is provided.