• 한국기계기술학회지
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• 제20권6호
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• pp.809-817
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• 2018

The model predictive controller performance of the mobile robot is set to an arbitrary value because it is difficult to select an accurate value with respect to the controller parameter. The general model predictive control uses a quadratic cost function to minimize the difference between the reference tracking error and the predicted trajectory error of the actual robot. In this study, we construct a predictive controller by transforming it into a quadratic programming problem considering velocity and acceleration constraints. The control parameters of the predictive controller, which determines the control performance of the mobile robot, are used a simple weighting matrix Q, R without the reference model matrix $A_r$ by applying a quadratic cost function from which the reference tracking error vector is removed. Therefore, we designed the predictive controller 1 and 2 of the mobile robot considering the constraints, and optimized the controller parameters of the predictive controller using a genetic algorithm with excellent optimization capability.

• 항공우주시스템공학회지
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• 제2권3호
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• pp.1-6
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• 2008

The tilt rotor aircraft has the flight characteristics which takes off vertically like a helicopter and flies forward like an airplane. Especially, the transition process from a helicopter to an airplane mode requires not only the mixing of control inputs but also the stability and controllability augmentation system(SCAS) in order to keep the safe flight because there are compound flight dynamic characteristics of a helicopter and an airplane including non-linearity, uncertainty. This paper describes the design of SCAS in a lateral motion for the tilt rotor aircraft based on the $H_{\infty}$ control method, which was performed from mathematical model with weighting matrix based on the relationship between the $H_{\infty}$ norm and the sensitivity function. Through simulation analysis for the controller designed on the $H_{\infty}$ control theory, it was shown that this method may be applied to the control design of the tilt rotor aircraft.

• 제어로봇시스템학회논문지
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• 제9권2호
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• pp.117-123
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• 2003

Rotational machines such as optical disk drives, hard disk drives, and so on are subject to periodic disturbances caused by their mechanical characteristics. In the meanwhile, it is well known that repetitive control rejects periodic disturbance effectively. This paper presents a practical application of repetitive control to the track-following servo of an optical disk drive. The repetitive control system is composed of two repetitive controllers which compensate for periodic disturbances generated by track geometry and eccentric rotation of disk and a feedback controller stabilizing the feedback loop. A robust stability for all plant uncertainties is proved using linear matrix inequalities (LMIs). In the controller design, a weighting function is introduced for the feedback controller to ensure a minimum loop gain and a sufficient phase margin. The repetitive controllers and the feedback controller are designed by solving an optimization problem which can consider the robust stability condition and the system performance. The developed repetitive control system is implemented in the digital control system with a 16-bit fixed-point digital signal processor (DSP). Through simulation and experiment. The feasibility of the proposed repetitive control system is verified.

• 농촌계획
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• 제2권1호
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• pp.31-38
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• 1996

As a rational decision-making process of county-level area development, this study designed 3-step framework : function-giving(areal analysis) on unit planning area by decision matrix of land suitability, check of typical characteristics of each function area and formulation of its future development strategies. Two alternatives were suggested as the areal analysis method, of which one is equal ordering / valuing technique of checking indices for land suitability classfication and the other preferential weighting technique. And then, under the algorithm specially defined in this study, land suitability maps(Fig.2,3) of the case study area (Seungju-county area, Chonnam-province, Korea) were drawn from the areal analysis results. By use of land suitability classification results, unique characteristics of typical function areas were defined (on 7 types of alternative 1 , 8 types of II ) and their future development strategies were formulated in the case study area, According to the categorization criteria in this study, all the villages of the case area were classfied as a suitable type of function areas illustrated in this study.

• 응용통계연구
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• 제33권5호
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• pp.615-625
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• 2020

문서-용어 빈도행렬은 그룹정보가 존재하는 문서들의 용어를 추출한 것으로 일반적인 텍스트 마이닝에서의 자료이다. 본 연구에서는 연구 분야 성격에 따른 문서 분류를 위해 문서-용어 빈도행렬을 생성하고, 전통적인 용어 가중치 함수인 TF-IDF와 최근 잘 알려진 용어 가중치 함수인 TF-IGM을 적용하였다. 또 용어 가중치가 적용된 문서-용어 가중행렬에 문서분류 정확도 향상을 위해 핵심어를 추출하여 문서-핵심어 가중행렬을 생성하였다. 핵심어가 추출된 행렬을 바탕으로, 심층 신경망을 이용해 문서를 분류하였다. 심층 신경망에서 최적의 모델을 찾기 위해 매개변수인 은닉층과 은닉노드수를 변화해가며 문서 분류 정확도를 확인하였다. 그 결과 8개의 은닉층을 가진 심층 신경망 모델이 가장 높은 정확도를 보였으며 매개변수 변화에 따른 모든 TF-IGM 문서 분류 정확도가 TF-IDF 문서 분류 정확도보다 높은 것을 확인하였다. 또한 개별 범주에 대한 문서 분류 분석 결과를 서포트 벡터 머신과 비교했을 때 심층 신경망이 대부분의 결과에서 더 좋은 정확도를 보임을 확인하였다.

• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1072-1078
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• 2002

The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nongolonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss's principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.

• International Journal of Aerospace System Engineering
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• 제4권1호
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• pp.1-8
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• 2017

This paper proposes the load distribution control allocation technique. The proposed method is designed by combining a conventional control allocation method with load distribution ability in order to reduce the stress acting on ailerons. By designing the weighting matrix as a function of the load distribution rule, the optimal deflection angles of each surface to satisfy both control goal and load distribution can be achieved. Moreover, rule based fault-tolerant control technique is also proposed. The rules are generated by considering both dominant control surfaces and the ratio of load distribution among surfaces. The performance of the proposed method is evaluated through numerical simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.565-569
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• 1993

In this paper, a specified number of actuators are selected from a given set of admissible actuators. The selected set of actuators is likely to use minimum control energy while required output variance constraints are guaranteed to be satisfied. The actuator selection procedure is an iterative algorithm composed of two parts; an output variance constrained control and an input variance constrained control algorithm. The idea behind this algorithm is that the solution to the first control problem provides the necessary weighting matrix in the objective function of the second optimization problem, and the sensitivity information from the second problem is utilized to delete one actuator. For variance constrained control problems, by considering a dual version of each control problem an efficient algorithm is provided, whose convergence properties turn out to be better than an existing algorithm. Numerical examples with a simple beam are given for both the input/output variance constrained control problem and the actuator selection problem.

• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.988-993
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• 2009

In this paper, we deal with a tracking gain-up controller design problem to control effectively the shake of tracking actuator after a track seek. A minimum tracking gain-up open-loop gain can be calculated by estimating the shake of tracking actuator and a desired transient specification is considered to diminish effectively the shake of actuator. A tracking gain-up controller is designed by considering a robust $H_{\infty}$ control problem with a regional stability constraint. The proposed tracking gain-up controller design method is applied to the track-following system of a DVD recording device and is evaluated through the experimental results.

• 한국소음진동공학회논문집
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• 제22권3호
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• pp.275-283
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• 2012

This paper presents a design method of a robust tracking controller satisfying multiple constraints using genetic algorithm. A robust $H_{\infty}$ constraint with loop shaping is used to address disturbance attenuation with error limits and a loop gain constraint is considered so as not to enlarge the tracking loop gain and bandwidth unnecessarily. The robust $H_{\infty}$ constraint is expressed by a matrix inequality and the loop gain constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a robust tracking controller can be obtained by integrating genetic algorithm with LMI approach. The proposed tracking controller design method is applied to the track-following system of an optical DVD recording drive and is evaluated through the experimental results.