• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.9
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• pp.944-955
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• 1990

A high-performance robotic controller is proposed for uncertain robots by using an adaptive control method, which guarantees the boundedness of uncertain systems with partially known uncertainty bounds. In order to improve the tracking performance of the robotic controller, a linear compensator is introduced to the robotic system which has been linearized via a nonlinear feedback. The above adaptive method is then utilized to guarantee the ultimate boundedness of the tracking errors. The performance of the robotic controller is compared with that of the computed torque method by computer simulations under uncertain environments. The simulation results show that the proposed method gives better performance than the computed torque method. Since the proposed method has a small number of parameters to be estimated, the controller is simpler to implement than other existing adaptive controller for robots. Hence, the proposed robotic control method is expected to be well suited for high-performance operation of robots under uncertain environment.

• Journal of IKEEE
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• v.18 no.2
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• pp.255-262
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• 2014

The uncertain integral linear system is the integral-augmented uncertain system to improve the resultant performance. In this note, for a MI(Multi Input) uncertain integral linear case, Utkin's theorem is proved clearly and comparatively. With respect to the two transformations(diagonalizations), the equation of the sliding mode is invariant. By using the results of this note, in the SMC for MIMO uncertain integral linear systems, the existence condition of the sliding mode on the predetermined sliding surface is easily proved. The effectiveness of the main results is verified through an illustrative example and simulation study.

• The Journal of Industrial Distribution & Business
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• v.10 no.1
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• pp.51-58
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• 2019

Purpose - Manufacturers in uncertain environments need to depend on governance mechanisms to reduce the inherent risk in these environments. However, few studies have examined which governance mechanisms a given manufacturers will develop in uncertain environments for managing the relationships with its vertical partner. This study explores how different governance mechanisms function under uncertain environmental circumstances. We also try to investigate the contextual effect of interfirm benevolence as moderator. Research design, data, and methodology - This research provide the conceptual framework of interfirm benevolence on which this research's propositions are predicted. The theoretical background for environmental uncertainty, governance mechanisms and interfirm benevolence will be discussed. Results - The expected results are as follows. Manufacturers in an uncertain environments rely on different governance mechanisms under conditions of high and low interfirm benevolence. In terms of role of interfirm benevolence, interfirm benevolence provides a better understanding of how governance mechanisms can develop in an uncertain supply markets. Conclusions - This research suggests several theoretical and practical implications between channel partners, particularly, this research offers that interfirm benevolence is a crucial competitive factor under environmental uncertainty situation. In future studies, it is necessary to investigate the effect of each governance mechanism structure on performance in an uncertain environment and various level of interfirm benevolence.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.682-690
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• 2002

This paper presents an output feedback controller design method for uncertain linear systems with sinusoidal disturbance of uncertain frequencies. The controller needs to compensate for the performance deterioration due to the uncertain frequencies of sinusoidal disturbance. To this end, we introduce a virtual system including the dynamics corresponding to the uncertain frequencies and design a controller which minimizes the output difference between the virtual system and the closed-loop system. In other words, the controller is designed so that the closed-loop system approximates the virtual system. The feedback controller is achieved by solving an LMI optimization problem involving a robust $H_{\infty}$ constraint. The advantages of the proposed design method are examined by comparing it with a design method that only minimizes the $H_{\infty}$ norm of the transfer function between the sinusoidal disturbance and the output. The proposed design method is applied to the track-following system of rewritable optical disk drives and is evaluated through an experiment.

• Industrial Engineering and Management Systems
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• v.15 no.2
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• pp.156-172
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• 2016

Complex and uncertain issues in supply chain result in integrated decision making processes in supply chains. So decentralized (distributed) decision making (DDM) approach is considered as a crucial stage in supply chain planning. In this paper, an uncertain DDM through coordination mechanism is addressed for a multi-product supply chain planning problem. The main concern of this study is comparison of DDM approach with centralized decision making (CDM) approach while some parameters of decision making are assumed to be uncertain. The uncertain DDM problem is modeled through fuzzy mathematical programming in which products' demands are assumed to be uncertain and modeled using fuzzy sets. Moreover, a CDM approach is customized and developed in presence of fuzzy parameters. Both approaches are solved using three fuzzy mathematical optimization methods. Hence, the contribution of this paper can be summarized as follows: 1) proposing a DDM approach for a multi-product supply chain planning problem; 2) Introducing a coordination mechanism in the proposed DDM approach in order to utilize the benefits of a CDM approach while using DDM approach; 3) Modeling the aforementioned problem through fuzzy mathematical programming; 4) Comparing the performance of proposed DDM and a customized uncertain CDM approach on multi-product supply chain planning; 5) Applying three fuzzy mathematical optimization methods in order to address and compare the performance of both DDM and CDM approaches. The results of these fuzzy optimization methods are compared. Computational results illustrate that the proposed DDM approach closely approximates the optimal solutions generated by the CDM approach while the manufacturer's and retailers' decisions are optimized through a coordination mechanism making lasting relationship.

• Journal of Korea Spatial Information System Society
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• v.8 no.3
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• pp.117-130
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• 2006

With the rapid development of technologies related to Ubiquitous Sensor Network (USN), sensors are being utilized in various application areas. In general, the data sensed by each sensor node on ubiquitous sensor networks are stored into the central server for efficient search. Because update is delayed to reduce the cost of update in this environment, uncertain data can be stored in the central server. In addition, Uncertain data make query processing produce wrong results in the central server. Thus, this paper examines how to process uncertain data in ubiquitous sensor networks and suggests a new index for efficient processing of uncertain data. The index reduces the cost of update by delaying update in uncertainty areas. Uncertainty areas are areas where uncertain data are likely to exist. In addition, it solves the problem of low accuracy in search resulting from update delay by delaying update only for specific update areas. Lastly, we analyze the performance of the index and prove the superiority of its performance by comparing its performance evaluation.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.95-98
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• 2005

This paper presents intelligent digital redesign method of global approach for hybrid state space fuzzy-model-based controllers. For effectiveness and stabilization of continuous-time uncertain nonlinear systems under discrete-time controller, Takagi-Sugeno(TS) fuzzy model is used to represent the complex system. And global approach design problems viewed as a convex optimization problem that we minimize the error of the norm bounds between nonlinearly interpolated linear operators to be matched. Also by using the power series, we analyzed nonlinear system's uncertain parts more precisely. When a sampling period is sufficiently small, the conversion of a continuous-time structured uncertain nonlinear system to an equivalent discrete -time system have proper reason. Sufficiently conditions for the global state -matching of the digitally controlled system are formulated in terms of linear matrix inequalities (LMls). Finally, we prove the effectiveness and stabilization of the proposed intelligent digital redesign method by applying the chaotic Lorentz system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.3
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• pp.280-289
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• 2008

This paper presents design of the quantitative feedback control system of the three axes hydraulic road simulator with respect to the dummy wheel for uncertain multiple input-output(MIMO) feedback systems. This simulator has the uncertain parameters such as fluid compressibility, fluid leakage, electrical servo components and nonlinear mechanical connections. This works have reproduced the random input signal to implement the real road vibration's data in the lab. The replaced $m^2$ MISO equivalent control systems satisfied the design specifications of the original $m^*m$ MIMO control system and developed the mathematical method using quantitative feedback theory based on schauder's fixed point theorem. This control system illustrates a tracking performance of the closed-loop controller with low order transfer function G(s) and pre-filter F(s) having the minimum bandwidth for parameters of uncertain plant. The efficacy of the designed controller is verified through the dynamic simulation with combined hydraulic model and Adams simulator model. The Matlab simulation results to connect with Adams simulator model show that the proposed control technique works well under uncertain hydraulic plant system. The designed control system has satisfied robust performance with stability bounds, tracking bounds and disturbance. The Hydraulic road simulator consists of the specimen, hydraulic pump, servo valve, hydraulic actuator and its control equipments

• Structural Engineering and Mechanics
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• v.25 no.3
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• pp.311-330
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• 2007

Model-based predictions of structural behavior are negatively affected by uncertainties of various type and in various stages of the structural analysis. The present paper focusses on dynamic analysis and addresses the effects of uncertainties concerning material and geometric parameters, mainly in the context of modal analysis of large-scale structures. Given the large number of uncertain parameters arising in this case, highly scalable simulation-based methods are adopted, which can deal with possibly thousands of uncertain parameters. In order to solve the reliability problem, i.e., the estimation of very small exceedance probabilities, an advanced simulation method called Line Sampling is used. In combination with an efficient algorithm for the estimation of the most important uncertain parameters, the method provides good estimates of the failure probability and enables one to quantify the error in the estimate. Another aspect here considered is the uncertainty quantification for closely-spaced eigenfrequencies. The solution here adopted represents each eigenfrequency as a weighted superposition of the full set of eigenfrequencies. In a case study performed with the FE model of a satellite it is shown that the effects of uncertain parameters can be very different in magnitude, depending on the considered response quantity. In particular, the uncertainty in the quantities of interest (eigenfrequencies) turns out to be mainly caused by very few of the uncertain parameters, which results in sharp estimates of the failure probabilities at low computational cost.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.92-95
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• 1999

The design problem of the control system is the ability to synthesize controller that achieve robust stability and robust performance. The paper explains the Finite Inclusions Theorem (FIT) by the procedure namely FIT synthesis. It is developed for synthesizing robustly stabilizing controller for parametrically uncertain system. The fundamental problem in the study of parametrically uncertain system is to determine whether or not all the polynomials in a given family of characteristic polynomials is Hurwitz i.e., all their roots lie in the open left-half plane. By FIT it can prove a polynomial is Hurwitz from only approximate knowledge of the polynomial's phase at finitely many points along the imaginary axis. An example shows the simplicity of using the FIT synthesis to directly search for robust controller of parametrically uncertain system by way of solving a sequence of systems of linear inequalities. The systems of inequalities are solved via the projection method which is an elegantly simple technique fur solving (finite or infinite) systems of convex inequalities in an arbitrary Hilbert space. Results from example show that the controller synthesized by FIT synthesis is better than by H$\sub$$\infty$/ synthesis with parametrically uncertain system as well as satisfied the objectives for a considerably larger range of uncertainty.