• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1771-1776
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• 2003

In mobile robot navigation, one of the key problems is the pose estimation of the mobile robot. Although the odometry can be used to describe the motions of the mobile robots quite simple and accurately, the validities of the models are limited by a number of error sources contaminating the encoder outputs so that applying the conventional extended Kalman filter to these nominal model does not yield the satisfactory performance. As a remedy for this problem, we consider the uncertain nonlinear kinematic model of the mobile robot that contains the norm bounded uncertainties and also propose a new robust extended Kalman filter based on the Krein space approach. The proposed robust filter has the same recursive structure as the conventional extended Kalman filter and can hence be readily designed to effectively account for the uncertainties. The computer simulations will be given to verify the robustness against the parameter variation as well as the reliable performance of the proposed robust filter.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.6
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• pp.590-597
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• 2009

This paper propose a PI controller that maximizes the degree of stability using a stability in a simplified motor model the applies decoupling control. The PI controller gains are directly from the motor parameters, thereby reducing the element of trial and error, and, the Kharitonov equation was used to evaluate the robustness of the gains to changes in the motor parameters. In addition, the system poles are located in the same position, the proposed method can provide a fast response. The effectiveness of the proposed controller is verified by simulation results.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.5
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• pp.37-42
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• 2004

This paper presents an optimal and robust tuning method of decentralized PI controller for the TITO second order systems to be formulated as LQR. The procedure is developed by establishing relationships between the closed-loop state equation including the decentralized PI tuning parameter and the . closed-loop state equation of LQR and by selecting the weighting factors Q and R of the cost function in order to satisfy the design specifications In frequency domain which the stability robustness and satisfied the performance guaranteed.

• Proceedings of the Acoustical Society of Korea Conference
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• 1993.06a
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• pp.75-79
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• 1993

본 논문에서는 변화가 심한 음원파형을 추정하는 새로운 순차처리 알고리듬을 제안한다. 먼저, 1) 기존의 순차처리 분석법중 대표적인 분석법인 RLS(recursive least square)의 문제점들을 검토하고, 2) 이를 개선하기 위해서 관측행렬(observation matrix)을 최적차수의 SVD(reduced-rank singular value decomposition)로 재구성하고, 3) 이에 견실개념(robustness concept)을 적용해서 최적의 성도변수(vocal tract parameter)를 찾아내고 역필터를 적용해서 음원(voice source)을 효과적으로 구분해낸다. 본 논문에서 제안된 방법으로 음원을 추정할 경우, 변화가 심한 음원파형을 잘 추정할 수 있으며, 음원의 특성을 구분해낸 성도 파라미터도 효과적으로 추정할 수 있다. 본 연구내용은 음성합성에서 자연성 개선 및 개인성 구현을 위해서 필수적이며, 다양한 형태의 음성을 표현하기 위해 사용되어질 수 있다. 또한, 음성코딩, 화자인식, 음성인식에서도 사용되어질 수 있다.

• Journal of Power Electronics
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• v.15 no.5
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• pp.1358-1366
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• 2015

This study focuses on an advanced second-order sliding mode control strategy for a variable speed wind turbine based on a permanent magnet synchronous generator to maximize wind power extraction while simultaneously reducing the mechanical stress effect. The control design based on a modified version of the super-twisting algorithm with variable gains can be applied to the cascaded system scheme comprising the current control loop and speed control loop. The proposed control inheriting the well-known robustness of the sliding technique successfully deals with the problems of essential nonlinearity of wind turbine systems, the effects of disturbance regarding variation on the parameters, and the random nature of wind speed. In addition, the advantages of the adaptive gains and the smoothness of the control action strongly reduce the chatter signals of wind turbine systems. Finally, with comparison with the traditional super-twisting algorithm, the performance of the system is verified through simulation results under wind speed turbulence and parameter variations.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.6
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• pp.1469-1478
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• 1995

PWM control is a kind of nonlinear control. The merits of PWM control of hydraulic equipment are the robustness of the high speed on-off valve and its low price. And it is easily implemented to hydraulic equipments with microcomputer. The high speed on-off valve is directly digitally controlled without any D/A converter. The objectives of this study is to analyze the limit cycle which regularly appear in the position control system using high speed on-off valve, and to give a criterion for the stability of this system. To do this, the nonlinear characteristics of PWM and cylinder friction of this system are described by harmonic linearization and the effects of parameter variations to the system stability are examined theoretically and experimentally. Consequently, the availability of the proposed method is confirmed well.

• Journal of the Korean Mathematical Society
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• v.35 no.3
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• pp.755-764
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• 1998

The least informative distributions minimizing Fisher information for location are obtained in the classes of continuously differentiable and piece-wise continuously differentiable densities with the additional restrictions on their values at the median and mode of population in the point and interval forms. The structure of these optimal solutions depends both on the assumptions of smoothness and form of characterizing restrictions of the class of distributions: in the class of continuously differentiable densities, the least informative distributions are finite and have the cosine-type form, and, in the class of piece-wise continuously differentiable densities, the least informative densities have exponential-type tails, the Laplace density in particular. The dependence of optimal solutions on the assumptions of symmetry is also analyzed.

• The Korean Journal of Applied Statistics
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• v.9 no.2
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• pp.1-11
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• 1996

As an estimate of a location parameter for a given data set, $\alpha$-trimmed mean has been studied for a long time by many statisticians because of its nice propoerties including robustness. However, its performance depends on the proportion of trimming say $\alpha$. In this paper, we suggest a data-driven choice of $\alpha$ and study its validity. Also, we suggest a new estimator and consider double-bootstrap to improve its performance. By using simulation study, the proposed method is compared with the exiting one in various cases. Real data sets are also analyzed by using the proposed method.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.696-698
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• 2004

In this paper we design $H_{\infty}$ infinity controller for Induction motor with low speed operation. $H_{\infty}$ controller is applied in order to design a state feedback static controller for field oriented control of an induction motor. $H_{\infty}$ controller are linear plant can be set up using the same assumptions that are at the basis of field oriented control. Thus, $H_{\infty}$ control theory can be successfully used to set up a state feedback controller for field oriented control of an induction motor. The performances of the $H_{\infty}$ controller is numerically analysed and experimentally verified to prove the validity of the design procedure. In this paper show that performances with high robustness to variations of system parameter.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.1
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• pp.1-10
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• 2005

This paper proposes a new and simple input prediction method for robust servo system. A robust tracking control system for optical disk drives was proposed recently based on both Coprime Factorization (CF) and Zero Phase Error Tracking (ZPET) control. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness to parameter uncertainties and disturbance rejection capability. Since optical disk tracking servo system can detect only tracking error, it was proposed that the reference input signal for ZPET could be estimated from tracking errors. In this paper, we propose a new control structure for the ZPET controller. It requires less memory than the previously proposed method for the reference signal generation. Numerical simulation results show that the proposed method is effective.