• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.31-39
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• 2000

We present a robust and reliable H$\infty$ state-feedback controller design for linear uncertain systems, which have norm-bounded time-varying uncertainty in the state matrix, and their prespecified sets of actuators are susceptible to failure. These controllers should guarantee robust stability of the systems and H$\infty$ norm bound against parameter uncertainty and/or actuator failures. Based on the linear matrix inequality (LMI) approach, two state-feedback controller design methods are constructed by formulating to a set of LMIs corresponding to all failure cases or a single LMI that covers all failure cases, with an additional costraint. Effectiveness and geometrical property of these controllers are validated via several numerical examples. Furthermore, the proposed LMI frameworks can be applied to multiobjective problems with additional constraints.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.592-595
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• 1999

In this paper, we propose a unified method to solve the various robust filtering problem for a class of uncertain discrete time systems. Generally, to solve the robust filtering problem, we must convert the convex optimization problem with uncertainty blocks to the uncertainty free convex optimization problem. To do this, we derive the robust matrix inequality problem. This technique involves using constant scaling parameter which can be optimized by solving a linear matrix inequality problem. Therefore, the robust matrix inequality problem does not conservative. The robust filter can be designed by using this robust matrix inequality problem and by considering its solvability conditions.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.457-462
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• 2005

An empirical way of a covariance matrix which expresses the odometry uncertainty of mobile robots is proposed. This method utilizes PC-method which removes systematic errors of odometry. Once the systematic errors are removed, the odometry error can be modeled using the Gaussian probability distribution, and the parameters of the distribution can be represented by the covariance matrix. Experimental results show that the method yields $5{\%}$ and $2.3{\%}$ offset for the synchro and differential drive robots.

• Nuclear Engineering and Technology
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• 제46권3호
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• pp.291-298
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• 2014

This paper concerns estimating uncertainties of the core neutronics design parameters of power reactors by direct sampling method (DSM) calculations based on the two-step McCARD/MASTER design system in which McCARD is used to generate the fuel assembly (FA) homogenized few group constants (FGCs) while MASTER is used to conduct the core neutronics design computation. It presents an extended application of the uncertainty propagation analysis method originally designed for uncertainty quantification of the FA FGCs as a way to produce the covariances between the FGCs of any pair of FAs comprising the core, or the covariance matrix of the FA FGCs required for random sampling of the FA FGCs input sets into direct sampling core calculations by MASTER. For illustrative purposes, the uncertainties of core design parameters such as the effective multiplication factor ($k_{eff}$), normalized FA power densities, power peaking factors, etc. for the beginning of life (BOL) core of Yonggwang nuclear unit 4 (YGN4) at the hot zero power and all rods out are estimated by the McCARD/MASTER-based DSM computations. The results are compared with those from the uncertainty propagation analysis method based on the McCARD-predicted sensitivity coefficients of nuclear design parameters and the cross section covariance data.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.403-410
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• 2016

This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.

• 한국수자원학회논문집
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• 제42권4호
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• pp.331-341
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• 2009

본 연구에서는 generalized logistic(GL) 분포의 최우도 추정량(maximum likelihood estimate)에 대한 불확실성 추정을 위하여 사용되는 관측정보행렬(observed information matrix)과 Fisher 정보행렬(Fisher information matrix)의 정확도를 비교해 보고자 하였다. 타 분포형에 대한 기존의 연구결과에서 표본의 크기가 클 경우 매개변수 추정시 관측정보행렬이 동시에 추정되어 계산시간도 단축되고 Fisher 정보행렬의 정확도와도 차이도 거의 없어 관측정보행렬의 사용이 추천된 바 있으나, 최근 사용이 증가되고 있는 GL 분포에 대한 연구결과는 아직 전무한 실정이며 기존 연구문헌의 결과를 토대로 구체적인 연구 없이 관측정보행렬을 사용하고 있는 상황이다. 따라서 본 연구에서는 이를 위해 모의실험을 수행하였으며, 모의 결과 최우도법에 의한 매개변수의 분산 및 공분산은 기존의 연구 결과와 비슷한 결과를 보이나, quantile에 대한 불확실성 추정에는 관측정보행렬보다 Fisher 정보행렬의 사용이 더 적절할 것으로 판단되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.292-295
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• 2003

In this paper, we present static output feedback model predictive tracking control for linear system with uncertainty. The proposed control law is based on integral action form to provide zero o��set for constant command signals and the closed loop stability is guaranteed under linear matrix inequality conditions on the terminal weighting matrix using the decreasing monotonicity property of the performance index. Through simulation examples, we illustrate that the proposed schemes can be appropriate tracking controllers for uncertain system.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권3호
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• pp.129-133
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• 2003

In this paper, we consider the robust guaranteed cost control problem for a class of uncertain neutral systems with given quadratic cost functions. The uncertainty is assumed to be norm-bounded and time-varying. The goal in this study is to design the memoryless state feedback controller such that the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound lot all admissible uncertainty. Some criteria for the existence of such controllers are derived based on the matrix inequality approach combined with the Lyapunov second method. A parameterized characterization of the robust guaranteed cost controllers is given in terms of the feasible solutions to the certain matrix inequalities. A numerical example is given to illustrate the proposed method.

• Journal of Electrical Engineering and Technology
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• 제7권1호
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• pp.124-131
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• 2012

This paper deals with robust stability of linear time-invariant (LTI) systems with unstructured uncertainties. A new relation between uncertainties and system poles perturbed by the uncertainties is derived from a graphical analysis. A stability criterion for LTI systems with uncertainties is proposed based on this result. The migration range of the poles in the proposed criterion is represented as the bound of uncertainties, the condition number of a system matrix, and the disc containing the poles of a given nominal system. Unlike the existing methods depending on the solutions of algebraic matrix equations, the proposed criterion provides a simpler way which does not involves algebraic matrix equations, and a more flexible root clustering approach by means of adjusting the center and the radius of the disc as well as the condition number.

• KSBB Journal
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• 제32권1호
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• pp.54-62
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• 2017

This study aimed to estimate the measurement uncertainty related to determination of hyaluronic acid used as a dietary supplement by high-performance liquid chromatography. According to the guidelines of the Association of Official Analytical Chemists, the analytical processes for determination of hyaluronic acid were performed. And the measurement uncertainty obtained during the analytical processes were expressed in accordance with mathematical/ statistical guidances of GUM (Guide to the Expression of Uncertainty in Measurement) & EURACHEM (Focus for Analytical Chemistry in Europe) for the analytical operations. For the uncertainty in measurement produced based on this analytical method, the expanded uncertainty was calculated by using the relative standard uncertainty between analytical results and sources of uncertainty in measurement (sample weight, final volume, extraction volume, standard solution, matrix and instrument etc). In the results of 95% confidence interval, it was calculated that the uncertainty in measurement was $57.75{\pm}8.76{\mu}g/kg$ (k=2.0). Therefore, it showed that the measurement uncertainty obtained by this analytical method influences on 15.2% of the contents of hyaluronic acid as the analytical results.