• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.15-18
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• 2003

This paper presents an adaptive control scheme for parking or regulating a nonholonomic mobile robot of an unicycle type with parameter uncertainty. The kinematics can be described with Brockett's nonholonomic integrator. The control law is designed in cylindrical coordinates together with the estimation law for the uncertain parameters such that the controlled signals converge to zero while guaranteeing the boundedness of the estimation errors. The effectiveness of the proposed scheme is demonstrated using simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1492-1495
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• 1996

In this paper, an approach to autopilot design based on the robust nonlinear dynamic inversion method is proposed. Both unknown parameters and uncertainty bounds are estimated and parameter estimates are used in the fast inversion. Furthermore, to get more robustness slow inversion is incorporated with MRAC(Model Reference Adaptive Control) and sliding mode control where the estimates of uncertainty bounds are used. The proposed method is applied to the pitch autopilot design of a missile system and excellent performance is shown via computer simulation.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 가을 학술발표회 논문집
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• pp.479-484
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• 2000

The reliable estimation of the system parameters and the accurate prediction of the system behavior are important to design tunnel safely and economically. Therefore, the back analysis using the field measurements data is useful to evaluate the geotechnical parameter for tunnel. In the back analysis method, the selection of initial value and uncertainty of field measurements influence significantly on the analysis result. In this paper, to overcome uncertainty of field measurements, we performed the back analysis using the displacement data gained at each step of excavation and support.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.39.3-39
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• 2001

Since Kalman filter and wavelet transform techniques are both suitable for a nonstationary process, wavelet-Kalman filter was proposed and applied to various industrial fields. However, the wavelet-Kalman filter subjected to model uncertainty with nonstationary process has not been considered. Thus, the robust wavelet-Kalman filter method is proposed in this paper. The proposed method can prevent the degradation of filter performance when parameter uncertainty exists in both the state and measurement matrices and preserve the merits of the standard Kalman filter in the sense that it produces optimal estimates. A simple example shows that the proposed approach outperforms the standard Kalman filter and the nominal wavelet-Kalman filter.

• 한국정밀공학회지
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• 제20권9호
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• pp.77-83
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• 2003

In this paper, a robust controller is proposed to control a robot manipulator which is governed by highly nonlinear dynamic equations. The controller is computationally efficient since it does not require the dynamic model or parameter values of a robot manipulator. It, however, requires uncertainty bounds which are derived by using properties of revolute joint robot dynamics. The stability of the robot with the controller is proved by Lyapunov theory. The results of computer simulations show that the robot system is stable, and has excellent trajectory tracking performance.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.1117-1120
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• 1999

In this paper, we design the H$\infty$ optimal controller satisfying robust stability and performance in spite of the plant uncertainty for an electro-mechanical actuator system and analyze the controller in frequency domain. H$\infty$ optimal controller K was designed using iteration algorithm suggested by DOYLE. Using the controller in an electro-mechanical actuator system, the joint with very small coupling rigidity coefficient was used to vary the control parameter. The plant unstructured uncertainty was assumed to be a multiplicative type.

• 한국전자파학회논문지
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• 제25권8호
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• pp.802-807
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• 2014

본 논문은 전력 증폭기의 출력 전력 측정에 있어 드레인에서의 부정합 정도를 고려한 정교한 측정 불확도 산출 방안을 제시하였다. 기존의 측정 불확도 산출 방법은 최적 성능을 위해 의도적인 부정합을 포함하는 전력증폭기의 정합상황을 정확히 반영하는데 한계를 가지고 있다. 이를 보완하기 위하여, 전력증폭기 드레인의 부정합 정도를 포함하는 복합 반사계수와 S-파라미터 측정 불확도를 활용한 종합적인 전력 측정 불확도를 제안하였으며, 3.7 GHz에서 동작하는 10 watt급 전력증폭기의 출력 전력을 측정한 실제 결과와 비교해 보았다. 결과적으로 제안한 합성 측정 불확도는 기존 불확도에 대비하여 10배 정도의 정교한 출력 전력의 불확도를 얻을 수 있었다.

• Earthquakes and Structures
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• 제26권4호
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• pp.311-326
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• 2024

Transmission tower structures are particularly susceptible to damage and even collapse under strong seismic ground motions. Conventional seismic analyses of transmission towers are usually performed by considering only ground motion uncertainty while ignoring structural uncertainty; consequently, the performance evaluation and failure prediction may be inaccurate. In this context, the present study numerically investigates the seismic responses and failure mechanism of transmission towers by considering multiple sources of uncertainty. To this end, an existing transmission tower is chosen, and the corresponding three-dimensional finite element model is created in ABAQUS software. Sensitivity analysis is carried out to identify the relative importance of the uncertain parameters in the seismic responses of transmission towers. The numerical results indicate that the impacts of the structural damping ratio, elastic modulus and yield strength on the seismic responses of the transmission tower are relatively large. Subsequently, a set of 20 uncertainty models are established based on random samples of various parameter combinations generated by the Latin hypercube sampling (LHS) method. An uncertainty analysis is performed for these uncertainty models to clarify the impacts of uncertain structural factors on the seismic responses and failure mechanism (ultimate bearing capacity and failure path). The numerical results show that structural uncertainty has a significant influence on the seismic responses and failure mechanism of transmission towers; different possible failure paths exist for the uncertainty models, whereas only one exists for the deterministic model, and the ultimate bearing capacity of transmission towers is more sensitive to the variation in material parameters than that in geometrical parameters. This research is expected to provide an in-depth understanding of the influence of structural uncertainty on the seismic demand assessment of transmission towers.

• 융합신호처리학회논문지
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• 제2권3호
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• pp.57-64
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• 2001

본 논문은 시스템의 불확실성과 외란의 불확실성에도 불구하고 원하는 시스템 성능을 만족할 수 있는 강인한 제어기 설계에 대하여 서술한다. QFT(Quantitative Feedback Theory)에 근거한 강인한 제어기 설계과정은 시스템 파라미터 변동과 설계사양을 고려하여 결정되는 템플레이트, 한계조건 그리고 루프형성을 거친다. 설계된 제어기의 성능을 입증하기 위해 파라미터 변동에 매우 민감하고, 비선형성이 강하며 불안정한 특성을 지닌 도립진자시스템에 대하여 적용한다. 설계된 제어기에 대한 시뮬레이션과 실험결과들은 파라메파 변동과 외란에 강인한 제어성능을 보인다.

• Journal of Power Electronics
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• 제10권5호
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• pp.498-504
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• 2010

The output power fluctuations of renewable energy power plants such as wind turbine generators and photovoltaic systems result in frequency deviations and terminal voltage fluctuations. Furthermore, these power fluctuations also affect the turbine shaftings of diesel generators and gas-turbine generators which are the main power generation systems on isolated islands. Therefore, it is important to achieve torsional torque suppression. Since the measurement of torsional torque is technically difficult, and there is an uncertainty in the mechanical constants of the shaft torsional system. This paper presents an estimation system that estimates torsional torque by using a developed $H_{\infty}$ observer. In addition to the above functions, the proposed shaft torque observer incorporates a parameter identification system that aims to improve the estimation accuracy. The simulation results validate the effectiveness of the proposed $H_{\infty}$ observer and the parameter identification.