• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.264-269
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• 2002

In this paper, Η$_{\infty}$ depth and course controller of an AUV(Autonomous Underwater Vehicle) using Η$_{\infty}$ servo control is proposed. The Η$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the Η$_{\infty}$ servo problem is as fellows: first, this problem is modified as an Η$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The Η$_{\infty}$ depth and course controller are designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed Η$_{\infty}$ depth and course control system.

• Journal of Ocean Engineering and Technology
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• v.11 no.3
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• pp.180-190
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• 1997

잠수함이 저심도 조건에서 특수임무 수행시, 표면파도 및 조류등 외란의 영향하에서 요구심도 및 위치 유지를 위한 강인한 자동항법장치 설계는, 첨단 군용 잠수함 개발에 필수적이다. 본 연구는 잠수함 조종 운동역학계에 기초하여, 정확한 심도 및 피치 운동 제어를 위해 선형 행렬 부등식을 이용한 혼합 $H_2/H_{\infty}$ 설계법을 사용, 다중 목적 함수로 표현된 잠수함의 조종성능들을 개선하였다. 또한, 제어기 설계법의 타당성을 수치 시뮬레이션을 통하여 검증하였다. 결과적으로 본 제어법은 각종 외란 및 계의 불확실성하에서 잠수정의 만족스러운 과도 상태 응답과 일정 심도 유지 및 피치 각도 변동 최소화에 적합한 강인한 방법임이 검증되었다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.48.3-48
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• 2001

A gain-scheduled autopilot design for a bank-to-turn (BTT) missile is developed by using the Linear Matrix Inequality (LMI) optimization technique and a state-space lineal interpolation method. The missile dynamics are brought to a quasilinear parameter varying (quasi-LPV) form. Robust linear control design method is used to obtain state feedback controllers for the LPV systems with exogenous disturbances at the frozen values of the scheduling parameters. Two gam-scheduled controllers for the pitch axis and the yaw/roll axis are constructed by linearly interpolating the robust state-feedback gains. The designed controller is applied to a nonlinear six-degree-of-freedom (6-DOF) simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.699-703
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• 2004

The autopilot system targets decreasing labor, working environment, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization, Dynamic ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And, Load Condition of ship acts as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that id disturbance act in non-linear form, become factor who make service of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using GA algorithm,design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.477-481
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• 1993

The aim of this paper is to analyze via computer simulation the robust performance of TDF(Two Degree of Freedom) H.$_{\infty}$ controller for uncertain systems having parameter uncertainty. We apply the TDF H$_{\infty}$ controller to autopilot design. We evaluate the robust performance of the TDF H$_{\infty}$ controller for uncertain systems and present the guaranteed bound of robust performance via computer simulation.on.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1304-1307
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• 1996

In this paper, we present a robust Two Degree of Freedom (TDF) $H_{\infty}$ controllers for a missile system. The feedback controller is designed to meet robust stability and disturbance rejection specifications while the prefilter is used to improve the robust model matching properties of the closed loop system. As the perturbed model, we use the normalized coprim factor perturbations. These controllers are designed using $H_{\infty}$ optimization procedures, and applied to a missile model via simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.296-300
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• 2003

The autopilot system targets decreasing labor, working environment improvement, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization. Dynamic Ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And Load Condition of ship as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that is disturbance act in non-linear from, become factor who make serv ice of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using fuzzy algorithm ,Design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.8
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• pp.2449-2457
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• 1996

This paper presents a design method for autopilot control system in course change to the specified direction based on a robust digital servo controlmelthod incorporating the concept of the annihilator polynormial. The mathematicalmodel of ship turning motion is very complex in the view of practical control because it has time varying parameters, nonlinear and dead time terms. To apply the digital servo control method based on computer control, the model is linearized at an equilibrium point and discretized with appropriate sampling time. The control algorithm was evaluated on the basis of computer simulation for a model ship and the practical experiment was carried out with an image processing method for measurement of ship position in a water tank. The results of overall experiments show that the proposed control method will be one of good way to keep a track plotted in the map.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1500-1503
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• 1996

This paper combines the disturbance accommodating control(DAC) and nonlinear model inversion control for a skid-to-turn(STT) missile. The missile autopilot may be designed to be robust with respect to a variety of uncertainties. We proposes the two step control design method. Nonlinear model inversion control is used as the main design method. Due to the model uncertainties and external disturbances, the exact nonlinear model inversion can not be achieved. DAC is designed to detect, to identify, and to compensate these uncertainties. DAC's disturbance observer is linear. Thus it is easy to implement. It does not cause the convergence problem due to coexistence between the modeling uncertainties and external disturbances. 6 DOF simulation results show that the proposed method may improve the missile tracking performance.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.801-804
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• 2003

The autopilot system of vessel is proposed to take service safety sorority, to elevate service efficiency, to decrease labor and to improve working environment. Ultimate purpose of it is to minimize the number of crew by guaranteeing economical efficiency of shipping service. Recently, the research is being achieving to compensate various nonlinear parameters of vessel and apply it is course keeping control, track keeping control, roll-rudder stabilization, dynamic ship positioning and automatic mooring control etc. using optimizing control technique. Relation between rudder angle controlled by steering machine of vessel and ship-heading angle, and load condition of ship are nonlinear, which affect various parameters of shipping service. The speed and direction of waves, velocity and quantity of wind, which also cause the non-linearity of it. Therefore the autopilot system of ship requires the robust control algorithm can overcome various non-linearity. On this paper, we design the autopilot system of ship, which overcome nonlinear parameters and disturbance of it using Fuzzy Algorithm, evaluate the proposed algorithm and its excellence through simulation