• International Journal of Control, Automation, and Systems
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• v.4 no.6
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• pp.689-696
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• 2006

This paper presents a new algorithm for the closed-loop $H_{\infty}$ composite control of weakly coupled bilinear systems with time-varying parameter uncertainties and exogenous disturbance using the successive Galerkin approximation(SGA). By using weak coupling theory, the robust $H_{\infty}$ control can be obtained from two reduced-order robust $H_{\infty}$ control problems in parallel. The $H_{\infty}$ control theory guarantees robust closed-loop performance but the resulting problem is difficult to solve for uncertain bilinear systems. In order to overcome the difficulties inherent in the $H_{\infty}$ control problem, two $H_{\infty}$ control laws are constructed in terms of the approximated solution to two independent Hamilton-Jacobi-Isaac equations using the SGA method. One of the purposes of this paper is to design a closed-loop parallel robust $H_{\infty}$ control law for the weakly coupled bilinear systems with parameter uncertainties using the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.77-84
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• 2005

In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes ire needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.8 s.239
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• pp.1093-1101
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• 2005

Hybrid mass damper systems have recently been introduced as a dynamic vibration absorber to exploit the benefits of both the conventional tuned mass damper system and the active control system. A hybrid system is programmed to function as either a conventional TMD or as an active system according to the wind conditions and the resultant building and damper mass vibration characteristics. This paper deals with the design of the robust controller for the control of the flexible box structure. The control algorithm was devised based on $H_2$(LQG) robust control logic with acceleration feedback and to improve the capability of the controller Kalman Filter was accepted for the system. To test the ability of the robust controller using the linear motor damper system, performance tests and simulations were carried out on the full-scale steel frame structure. Through the performance tests, it was confirmed that acceleration levels are reduced down.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.4
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• pp.27-35
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• 1996

The ship's propulsion efficiency depends upon a combibation of engine and propeller. The propeller has better efficiency as the engine has lower rotational speed. This situation led the engine manufacures to design the engine that has lower speed, longer stroke and a small number of cylinders. With this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variations of the delay-time and the parameter perturbation especially in low speed engine. In this study we consider the perturbations of the engine parameters as the modeling uncetainties and design a robust speed controller for marine medium speed diesel engine by means of $ extit{H}_{infty}$control theory having the central solution. By comparing the results of the robust speed controller with those of mechanical governor and PID controller, the validity of the robust speed controller under parameter variations is confirmed. The speed control of the experimental diesel engine of carried out using actuator which is composed of PWM signal generator and D.C servo motor.

• Journal of Advanced Marine Engineering and Technology
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• v.20 no.4
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• pp.349-349
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• 1996

The ship's propulsion efficiency depends upon a combibation of engine and propeller. The propeller has better efficiency as the engine has lower rotational speed. This situation led the engine manufacures to design the engine that has lower speed, longer stroke and a small number of cylinders. With this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variations of the delay-time and the parameter perturbation especially in low speed engine. In this study we consider the perturbations of the engine parameters as the modeling uncetainties and design a robust speed controller for marine medium speed diesel engine by means of $ extit{H}_{infty}$control theory having the central solution. By comparing the results of the robust speed controller with those of mechanical governor and PID controller, the validity of the robust speed controller under parameter variations is confirmed. The speed control of the experimental diesel engine of carried out using actuator which is composed of PWM signal generator and D.C servo motor.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.4B no.4
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• pp.217-224
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• 2004

A novel anti-islanding method for the distributed power generation system (DPGS) is proposed in this paper. Three different islanding scenarios are explored and presented based on the analysis of real and reactive power mismatch. It is shown via investigation that islanding voltage is a function of real power alone, where its frequency is a function of both real and reactive power. Following this analysis, a robust anti-islanding algorithm is developed. The proposed algorithm continuously perturbs ($\pm$5%) the reactive power supplied by the DPGS while simultaneously monitoring the utility voltage and frequency. In the event of islanding, a measurable frequency deviation takes place, upon which the real power of the DPGS is further reduced to 80%. A drop in voltage positively confirms islanding and the DPGS is then safely disconnected. This method of control is shown to be robust: it is able to detect islanding under resonant loads and is also fast acting (operable in one cycle). Possible islanding conditions are simulated and verified through analysis. Experimental results on a 0.5kW fuel cell system connected to a utility grid are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.137-140
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• 1996

Finding line segments in an intensity image has been one of the most fundamental issues in computer vision. In complex scenes, it is hard to detect the locations of point features. Line features are more robust in providing greater positional accuracy. In this paper we present a robust "line features extraction" algorithm which extracts line feature in a single pass without using any assumptions and constraints. Our algorithm consists of five steps: (1) edge scanning, (2) edge normalization, (3) line-blob extraction, (4) line-feature computation, and (5) line linking. By using edge scanning, the computational complexity due to too many edge pixels is drastically reduced. Edge normalization improves the local quantization error induced from the gradient space partitioning and minimizes perturbations on edge orientation. We also analyze the effects of edge processing, and the least squares-based method and the principal axis-based method on the computation of line orientation. We show its efficiency with some real images.al images.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1814-1819
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• 2004

The purpose of this research is to improve the reliability of automobile navigation system that utilizes the magnetic compass for localization. On account of its sensitiveness against the dynamic external interference of the magnetic field, the electronic compass itself is not accurate enough to be used for the localization compared to the gyro-compass. To overcome this shortcoming, in this research, a robust electronic compass is designed by using two magnetic compasses to cancel out the dynamic interferences efficiently. That is, a dual compass predictive calibration algorithm against irregular external interference of magnetic field is newly proposed and implemented in this paper. When the dynamic interference can be eliminated from the electronic compass, it becomes much accurate than the gyro-based system that suffers from the accumulative drift error. The reliability and performance of the designed system have been verified through the real driving experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1816-1821
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• 2003

The thermoelectric device was applied to a car-seat to control the hot temperature in summer and cold temperature in the winter. The characteristics of the device used to a car-seat were analyzed. The air conditioning structure was designed to regulate the hot side of the thermoelectric device. To control the temperature of the car-seat, a robust control algorithm based on the sliding mode control was applied, and a controller using one-chip microprocessor was developed. The performance of the proposed controller through experiments was shown.