• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.109.1-109
• /
• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• 해양안보
• /
• 제3권1호
• /
• pp.1-44
• /
• 2021

중국의 새로운 해양정책법(Maritime Policy Law: MPL)은 중국해안경비대 등의 중국 해양경찰 기관들의 임무를 규제하고, 중국의 주권, 안보, 권리, 이해관계를 보호한다고 주장한다. [하지만] 중국이 본토 주위 및 남중국해에서 넓은 해역에 대한 권리를 주장하고 있다는 점에서, MPL은 훨씬 광범위하게 적용될 수 있다. 중국이 제기하는 대부분의 해양 주장이 국제법에 부합하지 않는다는 점을 고려하면, 이렇게 해양법 집행 관할권을 광범위하게 적용하는 것은 문제의 소지가 많다. MPL이 분쟁해역 또는 공해에서 외국선적 선박에 대한 관할권을 주장한다면, 이는 국제법 위반이다. 무력 사용에 관한 MPL의 많은 규정 역시, 해양법 집행 관할권의 사용에 관한 국제 규칙 및 기준을 위반한 것이며, 모든 국가의 영토 온전성이나 정치적 독립성에 반하는 위협이나 무력사용을 금하는 유엔헌장에도 위배된다. 중국은 MPL을 남중국해와 동중국해에서 불법적인 영토 및 해양 주장을 제기하기 위한 구실로 사용할 수 있으며, 다른 연안국의 배타적경제수역 내 자원 권리 행사를 방해하기 위한 구실로도 사용할 수 있다.

• 4차산업연구
• /
• 제2권2호
• /
• pp.39-46
• /
• 2022

Purpose - This study analyzes the investment environment of South Korea by using the rating scale of Robert B Stobaugh, Jr, and draws conclusion implication. Research design, data, and methodology - The study conducted a survey on according to the political stability, capital repatriation, foreign ownership allowed, discrimination and controls, foreign vs domestic businesses, currency stability, willingness to grant tariff protection, availability of local capital, and annual inflation for last 5 years. The score of these eight aspects will be given based on the current situation in South Korea and the sum of the scores will be calculated. Result - China-Korea economic and trade relations are in a stage of transformation and upgrading, and the level of economic and trade cooperation in various fields is reaching a new level. It is hoped that Chinese enterprises will grasp business opportunities, strengthen research and analysis of the Korea market and achieve mutually beneficial cooperation. Conclusion - The investment environment of South Korea is superior according to the political stability, capital repatriation, foreign ownership allowed, discrimination and controls, foreign vs domestic businesses, currency stability, willingness to grant tariff protection, availability of local capital, and annual inflation for last 5 years.

• 제어로봇시스템학회논문지
• /
• 제8권2호
• /
• pp.89-96
• /
• 2002

A new chattering free PD-sliding mode hybrid control scheme is proposed for robot manipulators. This hybrid controller is composed of a PD controller and a semi-continuous sliding mode controller. It has a good robust performance in reaching mode which does not possess invariance property of sliding mode, and has chattering free characteristics in sliding mode. Thus, the PD-sliding mode hybrid controller has a good robust performance in the whole region. It is shown that the proposed control has a good transient response and trajectory tracking performance for a 2-link SCARA robot manipulator.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1993년도 춘계학술대회 논문집
• /
• pp.218-222
• /
• 1993

A sliding mode controller associated with the moving sliding surface is formulate for the tip position control of a single-link flexible manipulator. After establishing the plant model which characterizes a noncollocated control system, a discontinuous control law is then constructed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase without increasing maximum control torque. Furthermore, a low sensitiveness to extraneous disturbance is obtained. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.546-551
• /
• 1993

A new robust sliding mode controller is formulated for the tip position control of a single-link flexible manipulator with parameter variations. After establishing the plant model characterized by a noncollocated uncertain control system, a sliding surface which guarantees stable sliding mode motion is synthesized in an optimal manner. The surface is then modified to adapt arbitrarily given initial conditions. A discontinuous control law associated with the modified surface is designed by restricting that velocity state variables are not available from direct sensor measurements. Using the proposed control law favorable system responses are accomplished through shortening the reaching phase of state trajectory without increasing maximum control torque as well as undesirable chattering. Furthermore, a low sensitiveness to uncertainties is obtained from inherent salient properties of the proposed control system. Computer simulations are undertaken in order to demonstrate these superior control performance characteristics to be accrued from the proposed methodology.

• 한국중재학회지:중재연구
• /
• 제28권2호
• /
• pp.137-163
• /
• 2018

Efficiency in the arbitration proceedings and finality of arbitral awards have been key attractive features of arbitration. While finality of awards is due to the fact that there is no appeals mechanism in arbitration, other recourses that are available against arbitral awards threaten the integrity of finality of arbitral awards. This article examines some of these recourses, such as, setting aside of arbitral awards pursuant to the UNCITRAL Model Law, scrutiny of draft awards by arbitration institutions, and annulment proceedings of ICSID Convention awards and discusses the implications of these measures in relation to assuring finality of arbitral awards in international commercial and investment arbitration cases. In order to more effectively respect the disputing parties' autonomy in choosing arbitration, and also to give as much deference to arbitral tribunals' decisions and their discretion in reaching their decisions, it is proposed that an official appellate mechanism would be preferred over the undermining of finality of arbitral awards that have been taking place through the currently available exclusive recourses against arbitral awards.

• 의료법학
• /
• 제11권1호
• /
• pp.11-52
• /
• 2010

Medical Dispute Arbitration Law had been debated on its legislation several times since Korean Medical Association's submission of the bill to the National Assembly in 1988, eventually in December, 2009, passed the National Assembly Standing Committee and was laid before the Legislation and Judiciary Committee, and thus its legislation is now near at hand. During the long process, it has provided a hot issue with our society. And yet, Medical Dispute Arbitration Law has differed considerably in legislative content depending on the main body of proceeding the enactment, which subsequently was given the mixed comments of 'Act on Malpractice-related Damage Relief' or 'Medical Indemnity Act', and this legislative bill also cannot be free from this debate. It is desirable that medical disputes between doctors and patients be resolved through conciliation between the parties concerned. But, because reaching a compromise is difficult owing to deep emotional conflicts between the parties, difficulties in investigating a cause and requiring a high amount of settlement money, etc., it is inevitable to seek a resolution by third party intervention. By the way, such an arbitration by third party is based on the compromise of the interested parties and thus has a limitation of not being able to satisfy both parties completely. Therefore, the legislative bill made for arbitration of medical disputes between the parties will have to prepare an institutional system for the parties to easily understand and accept. Also, problems occurred in the legislative bill will have to be corrected through an in-depth discussion in order for the legislative bill to work as an effective system.

• Journal of Power Electronics
• /
• 제18권4호
• /
• pp.1075-1085
• /
• 2018

To deal with the operation performance degradation of permanent magnet synchronous machine (PMSM) drives with uncertainties and unmodeled dynamics, this paper presents a finite-time nonlinear disturbance observer (FTNDO) based discretized integral sliding mode (DISM) composite control scheme. Based on the reaching-law approach, a DISM speed controller featuring a superior dynamic quality and global robustness against disturbances is constructed. This controller can avoid the reaching phase and overlarge control action. In addition, a sliding mode differentiator based FTNDO is devised and extended to the discrete-time domain for disturbance estimation. The attractive features of the FTNDO are that it can provide a finite-time converging estimation and alleviate the chattering effect in conventional sliding mode observers, while retaining robustness to parameter variations. By feeding the estimate forward to the pre-stage DISM controller, both disturbances and chattering can be significantly suppressed. Moreover, considering the estimation error of a FTNDO caused by discrete sampling, a stability analysis of the composite controller is discussed. Experimental results validate the superiority of the presented scheme.

• 산업진흥연구
• /
• 제5권3호
• /
• pp.61-71
• /
• 2020

본 논문의 목적은 고법 명리학의 명리 이론들을 연구 정리하여 고법의 사주 모형을 재현하고 고법의 사주해석법과 신법의 사주해석법의 논리구조를 정리한 후 비교하는 연구를 진행함으로써 그 간명법을 논리적 체계를 재확인해 보는 것이다. 명리이론이 처음 세상에 등장한 것은 귀곡자와 낙록자를 시원으로 삼아 그들이 활동했던 전국시대라고 보는 이도 있고, 조금 더 시간이 흘러 동진의 곽박에 의해 '옥조경'이 쓰여진 것이 시원이라고 보는 이도 있다. 그 이후 원천강과 이허중 등에 의해 체계화되어 가던 명리이론은 송대 서자평에 이르러 크게 변혁을 겪게 되는데 이 시점을 기준으로 앞 세대의 명리이론을 고법, 그 이후 서자평으로부터 시작되는 명리이론을 신법이라고 후대인들은 칭한다. 명리학 고법과 신법의 논리구조 변화는 둘 사이의 큰 차이점과 단절 현상을 남겨놓고 있지만 명리학 고법과 신법 모두 음양오행과 천간지지라는 자연의 상징체계, 천지인 삼원에 투영된 천인 감응 사상, 연월일시의 궁위가 가진 세대와 시간의 개념, 천기의 생왕사절 유행 등의 자연법에 기인한 철학과 논리구조는 크게 달라지지 않았다는 점을 비교연구를 통해 확인할 수 있었다.