• 제어로봇시스템학회논문지
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• 제4권5호
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• pp.592-599
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• 1998

In this paper, we design a tracking controller which satisfies transient response specifications and maintains tracking error within a tolerable limit for the uncertain track-following system of an optical disk drive. To this end, a robust $H_{\infty}$ control problem with regional stability constraints and sinusoidal disturbance rejection is considered. The internal model principle is used for rejecting the sinusoidal disturbance caused by eccentric rotation of the disk. We show that a condition satisfying the regional stability constraints can be expressed in terms of a linear matrix inequality (LMI) using the Lyapunov theory and S-procedure. Finally, a tracking controller is obtained by solving an LMI optimization problem involving two linear matrix inequalities. The proposed controller design method is evaluated through an experiment.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.559-564
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• 2002

This paper describes a new algorithm named as ray following algorithm which is applied for high-resolution satellite image simulation. The problems of the conventional ray tracing algorithm are pointed out especially when terrain elevations vary abruptly. The proposed algorithm follows the directional ray vector sequentially and thoroughly in order to determine the crossing point of the ray with the terrain surface. This way of sequential height comparison method is regarded as the only way to obtain accurate surface cross-section when a highly variant digital surface model is used. The experimental results show and compare the validities of the conventional and proposed algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국제학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.746-748
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• 1988

A way of improving the transient performance is suggested for a class of model reference adaptive control systems. To increase the convergence rate of a model following error, an error feedback term is incorporated into the control law.

• 한국ITS학회:학술대회논문집
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• 한국ITS학회 2002년도 제1회 정기총회 및 학술대회
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• pp.72-75
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• 2002

• Earthquakes and Structures
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• 제8권4호
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• pp.935-956
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• 2015

Structural Health Monitoring (SHM) of steel towers has become a hot research topic. From the literature, it is impractical and impossible to develop a "general" method that can detect all kinds of damages for all types of structures. A practical method should make use of the characteristics of the type of structures and the kind of damages. This paper reports a feasibility study on the use of measured modal parameters for the detection of damaged braces of tower structures following the Bayesian probabilistic approach. A substructure-based structural model-updating scheme, which groups different parts of the target structure systematically and is specially designed for tower structures, is developed to identify the stiffness distributions of the target structure under the undamaged and possibly damaged conditions. By comparing the identified stiffness distributions, the damage locations and the corresponding damage extents can be detected. By following the Bayesian theory, the probability model of the uncertain parameters is derived. The most probable model of the steel tower can be obtained by maximizing the probability density function (PDF) of the model parameters. Experimental case studies were employed to verify the proposed method. The contributions of this paper are not only on the proposal of the substructure-based Bayesian model updating method but also on the verification of the proposed methodology through measured data from a scale model of transmission tower under laboratory conditions.

• 한국항공우주학회지
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• 제37권5호
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• pp.464-469
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• 2009

본 연구에서는 기존의 초음속 고등훈련기 재형상 모드에 모델추종 적응제어 기법을 적용하여 새로운 개념의 고장허용 제어기를 설계하였다. 실제 비행제어 시스템에 적용할 수 있도록 제어기 설계와 자동 탑재코드 생성에 사용되고 있는 시스템을 이용하여 제어기를 구현하였다. 초음속 고등훈련기의 비실시간 비선형 검증도구로 사용되고 있는 프로그램을 이용하여 시뮬레이션을 수행하여 성능을 검증하였다.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권12호
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• pp.575-583
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• 2001

It is hard to obtain good robust performance and robust stability for uncertain and time-varying system. The robust 2-DOF controller is frequently used to obtain the desired response and the good robustness. Two controllers can be independently designed. Generally, one controller reduces sensitivity to parameter variations, nonlinear effects, and other disturbances. On the other hand, the other controller reduces the error between the desired command and output. In this paper, the various robust perfect MFCs(model-following controllers) combined with TDC(Time Delay Control) are designed, and the imperfect stable MFC combined with TDC and SMC(Sliding Mode Control) is proposed. These controllers are based on the method of designing robust 2-DOF controllers for dynamic system with uncertainty. The performance of the proposed imperfect sable MFC has been evaluated through computer simulations. The simulation results indicate that the proposed controller shows the excellent performance characteristics for an overhead crane with uncertain and time-varying parameters.

• Communications for Statistical Applications and Methods
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• 제18권6호
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• pp.697-705
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• 2011

본 논문에서는 수리가 가능한 시스템에 대하여 무료 재생교체-비재생수리보증이 종료된 이후의 최적의 교체정책을 제안한다. 이를 위해서, 무료재생교체-비재생수리보증을 정의하고, 사용자 측면에서 무료재생교체-비재생수리보증이 종료된 이후의 보전모형을 고려한다. 최적의 보전정책을 결정하기 위한 기준으로는 사용자 측면의 단위시간당 기대비용을 사용하는데, 이러한 단위시간당 기대비용을 구하기 위해서 사용자측면의 기대순환길이와 총기대비용을 각각 유도한다. 끝으로 본 논문에서 제안된 무료 재생교체-비재생수리 보증이 종료된 이후의 최적의 교체정책을 설명하기 위해서 수치적 예를 살펴본다.

• 조명전기설비학회논문지
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• 제18권6호
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• pp.84-90
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• 2004

제어계에서 제어성능을 개선시키기 위해서 많은 제어기법들이 제안되어왔다. 궤환제어계에서 일반적으로 제어기의 출력이 제어대상의 입력으로 사용된다. 그러나 불필요한 잡음이 제어기의 출력에 포함된다. 그러므로 이러한 잡음을 제거하고 계의 응답특성을 개선시키기 위해서 전치보상기를 사용할 필요가 있다. 본 논문에서는 모델추종제어를 위한 전치보상기의 설계법을 I-PD 제어계에서 제안하였다. 제안한 전치보상기를 신경망으로 구현하였고, 계의 응답특성이 어떤 조건하에서 변할 때 원하는 응답이 되도록 전치보상기의 이득이 자동적으로 조정되도록 하였다.

• 로봇학회논문지
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• 제15권2호
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• pp.147-159
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• 2020

Over the last years, a number of different path following methods for the autonomous parking system have been proposed for tracking planned paths. However, it is difficult to find a study comparing path following methods for a short path length with large curvature such as a parking path. In this paper, we conduct a comparative study of the path following methods for perpendicular parking. By using Monte-Carlo simulation, we determine the optimal parameters of each controller and analyze the performance of the path following. In addition, we consider the path following error occurred at the switching point where forward and reverse paths are switched. To address this error, we conduct the comparative study of the path following methods with the one thousand switching points generated by the Monte-Carlo method. The performance of each controller is analyzed using the V-rep simulator. With the simulation results, this paper provides a deep discussion about the effectiveness and limitations of each algorithm.