• Journal of the Korean Institute of Telematics and Electronics
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• v.22 no.3
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• pp.77-83
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• 1985

This paper considers the problem of stabilizing a class of continuous-time large scale linear systems when the system parameters are uncertain. The proposed local adaptive controls are a combination of a new adaptive feedback control and the conventional linear feedback control. A condition of stability is derived , under which the overall closed-loop system is assured to be globally stable. Also, a numerical example is illustrated via computer simulation.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.11
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• pp.934-940
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• 1991

The multi-layer neural network that has broadly been utilized in designing the controller of robot manipulator possesses the desirable characteristics of learning capacity, by which the uncertain variation of the dynamic parameters of robot can be handled adaptively, and parallel distributed processing that makes it possible to control on real-time. However the error back propagation algorithm that has been utilized popularly in the learning of the multi-layer neural network has the problem of its slow convergencs speed. In this paper, an approach to improve the convergence speed is proposed using fuzzy logic that can effectively handle the uncertain and fuzzy informations by linguistic level. The effectiveness of the proposed algorithm is demonstrated by computer simulation of PUMA 560 robot manipulator.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.8
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• pp.1-14
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• 1996

Design of a reliable control systems is investigated for a class of uncertain linear plants. The uncertainty considered here is for the ase of uncertainty in the system matrix. A decentralized control scheme with two observer-based feedback controllers is developed, and it is shown that the resulting closed-loop system is reliable in the sense that the control scheme provides guaranteed stability and $H_{\infty}$-norm bounded performance in the event of sensor and/or actuator failures as well as in the presence of parameter uncertainties. We observed that soft-type failures were additional exogenous inputs to the closed-loop system. As a results, the sensor and/or actuator failures can be tolerated in the design, which is achieved by extending the methodology developed in.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.4
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• pp.1-6
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• 2010

In this paper, we present a new delay-dependent and parameter-dependent robust stability condition for uncertain singular systems with polytopic parameter uncertainties and time-varying delay. The robust stability criterions based on parameter-dependent Lyapunov function are expressed as LMI (linear matrix inequality). Moreover, the proposed robust stability condition is a general algorithm for both singular systems and non-singular systems. Finally, numerical examples are presented to illustrate the feasibility and less conservativeness of the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.7
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• pp.418-423
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• 2003

In order to describe the upper bound of the uncertainties without any information of the structure, we assume that the upper bound is represented as a Fredholm integral equation of the first kind, that is, an integral of the product of a predefined kernel with an unknown influence function. Based on the improved Lyapunov function, we propose an adaptation law that is capable of estimating the upper bound and we design a sliding mode control, which controls effectively for uncertain dynamic systems.

• ETRI Journal
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• v.38 no.5
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• pp.1008-1018
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• 2016

This paper presents a control scheme for the leader-following formation of multiple robots. The control scheme combines the sliding mode control (SMC) method with the nonlinear disturbance observer (NDOB) technique. The formation dynamics suffer from uncertainties because the individual robots are uncertain. Concerning such formation uncertainties, the leader-following formation dynamics are modeled. Assuming that the formation uncertainties have an unknown boundary, an NDOB-based observer was designed to estimate the formation uncertainties. A sliding surface containing the observer outputs has been defined. Regarding the sliding surface, an SMC-based controller was investigated to form uncertain robots. A sufficient condition in the sense of the Lyapunov theory was proven such that the formation system is asymptotically stable. Herein, some comparison results between the sole SMC method and the second-order SMC method are presented to demonstrate the effectiveness and feasibility of the control scheme for multiple robots in the presence of uncertainties.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.4
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• pp.427-438
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• 1991

An iterative learning control scheme for exact-tracking control and parameter estimation of uncertain robotic system is preented. In the learning control structure, the control input converges globally and asymtotically to the desired input as iteration increases. Since convergence of parameter errors depends only on the persistent exciting condition of system trajectories along the iteration independently of the time-duration of trajectories, it may be achieved with system trajectories with small duration. In addition, the proposd learning control schemes are applicable to time-varying parametric systems as well as time-invariant systems, because the parameter estimation is performed at each fixed time along the iteration. In the parameter estimator, the acceleration information as well as the inversion of estimated inertia matrix are not used at all, which makes the proposed learning control schemes more feasible.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2009.05b
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• pp.159-162
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• 2009

Today's construction is more various and more complex. Because of that, a lot of uncertain factors are occurred and they related uncertain construction duration. For management complex architecture project, importance of construction schedule management also increased. In previous studies, one of solutions to overcome those problems is suggested. It was BIM based construction simulation process which focused on construction schedule and construction schedule management. But latest process had limited point which has no duration estimation function. So this paper suggested duration estimation method and developed duration estimation module. Duration estimation module developed with current scheduling tool MS Project and their macro function. However, this module has just developed Reinforced Concrete Structure and has to do more development and research.

• The Journal of Industrial Distribution & Business
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• v.15 no.8
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• pp.1-12
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• 2024

Purpose: Marketing networks are essential for firms to gain new information and resources, yet their effect on innovation performance under uncertainty remains unclear. This study aims to elucidate the effects of technological and demand variability on the innovation performance of first-tier suppliers, considering different levels of structural holes. It particularly explores how structural holes moderate the relationship between uncertain factors and innovation performance. Research design, data and methodology: To assess the hypotheses, a survey was conducted with the first-tier suppliers. The survey targeted internal networks and the relationships between manufacturers, suppliers, and subsuppliers. Structural equation modeling was employed to validate the hypotheses using measures from previous research. Results: The findings indicate that the impact of technological uncertainty and demand variability on innovation performance varies based on the extent of structural holes in the network. Conclusions: This study provides both theoretical and practical insights for distribution channels, highlighting the competitive advantage of interfirm networks in uncertain conditions. However, the focus on the engineering industry may limit the generalizability of the findings. Future research should explore a broader range of industries to improve result applicability.

• Management & Information Systems Review
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• v.12
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• pp.227-245
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• 2003

In this paper, it is indicated that, currently, foundation of small and medium businesses is generally increasing in number, but the establishment of manufacturing companies is very slow. This is because of many factors interfering with promotion of the opening of small and medium businesses such as endless bakruptcies of the businesses and uncertain perspective. Therefore, it will be expected to encourage people to start business and activate establishment of small and medium sized manufacturing companies by improving tax support systems and providing tax support information services for founed companies and foundation supporting companies.