• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.341-349
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• 2004

In this paper, the decentralized neural network control of the reference compensation technique is proposed to control a 2-DOF inverted pendulum on an x-y plane. The cart with the 2-DOF inverted pendulum moves on the x-y plane and the 2-DOF inverted pendulum rotates freely on the x-y axis. Since the 2-DOF inverted pendulum is divided into two 1-DOF inverted pendulums, the decentralized neural network control is applied not only to balance the angle of pendulum, but also to control the position tracking of the cart. Especially, a circular trajectory tracking is tested for position tracking control of the cart while maintaining the angle of the pendulum. Experimental results show that position control of the inverted pendulum system is successful.

• 대한전기학회논문지
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• 제39권10호
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• pp.1075-1085
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• 1990

This paper presents a new method for the optimal control of the distributed parameter systems by a decentralized computational procedure. Approximate lumped parameter models are derived by using the Galerkin method employing the Legendre polynomials as the basis functions. The distributed parameter systems, however, are transformed into the large scale lumped parameter models. And thus, the decentralized control scheme is introduced to determine the optimal control inputs for the obtained lumped parameter models. In addition, an approach to block pulse functions is applied to solve the optimal control problems of the obtained lumped parameter models. The proposed method is simple and efficient in computation for the optimal control of distributed paramter systems. Illustrative examples given to demonstrate the validity of the presently proposed method.

• 한국산업정보학회논문지
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• 제1권1호
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• pp.153-176
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• 1996

The new field of learning control devleops controllers that learn to improve their performance at executing a given task, based on experience performing this task. the simplest forms of learning control are based on the same concepts as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers ina decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

• 한국통신학회논문지
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• 제29권9C호
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• pp.1252-1257
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• 2004

본 논문에서는 TITO 시스템에서 분산된 LQ-PID 제어기 설계방법을 제안하고,주파수 영역의 설계사양인 명령추종, 외란제거, 센서 잡음 저감도를 만족하도록 제어기를 설계하였다. 설계방법은 PID 제어요소를 포함한 폐루프 상태방정식과 LQR 폐루프 상태방정식의 관계를 유도하고 루프형성절차를 통해 가격함수의 가중치 요소 Q와 R을 선정함으로써 성능 및 안정도 강인성이 보장되도록 하였다.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2020년도 춘계학술발표대회
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• pp.417-419
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• 2020

데이터 3법 시대에 접어들면서 기업들에는 가명화된 개인정보를 활용할 수 있는 길이 열렸다. 하지만 현 데이터 3법은 데이터를 생성하고 유통하며 활용할 기업들의 책임과 혜택에 내용이 맞춰져 있어 아쉬운 감이 있다. 개인의 기본권을 보장하면서도 마이데이터 유통 및 활용을 도울 방법은 없을까? 본 논문에서는 데이터의 주체인 개인이 데이터 주권을 행사하고 실질적인 혜택을 받는 마이데이터 서비스의 활성화를 위한 ID 관리 기술로 블록체인 기반 분산 ID(Decentralized Identification, DID)를 제안하고, DID 수용의도에 영향을 마치는 요인을 연구함으로써 마이데이터 서비스 개발 활성화를 위한 정책적, 실무적 시사점을 도출하고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.183-187
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• 1989

This paper presents on approach to the position control of a robot manipulator by using a decentralized adaptive control scheme. The large scale system is regarded as the system which consists of many subsystems having interconnection. In each subsystem, a local control system is composed by feedforward and feedback component, one computes the nominal torque from the Newton-Euler equation, the other computes the perturbation equation which reduce the position error of the manipulator along the nominal trajectory. A computer simulation studies was conducted to evaluate and compare the performances of the proposed manipulator control scheme with those of the PD control and centralized control schemes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1068-1072
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• 1991

This paper presents a decentralized model reference adaptive control scheme for an interconnected continuous linear system composed of a number of single-input single-output subsystems in which outgoing interactions pass through the measurement channel and are subject to bounded external disturbance. The scheme can treat the unknown strength of interactions as well as the uncertainty of subsystems.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.493-500
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• 2018

This paper addresses a decentralized observer-based output-feedback formation control problem for multiple unmanned underwater vehicles (UUVs). The complex nonlinear model for a UUV is feedback-linearized. It is assumed that each UUV in the formation exploits only the information regarding itself and the immediate predecessor, which imposes structural constraints on the formation controller gain matrices. The design condition is presented as a two-stage linear matrix inequalities problem. The synthesized controller demonstrates its own advantages through a numerical example.

• 한국항공우주학회지
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• 제43권10호
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• pp.859-867
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• 2015

본 논문은 행위 기반 분산 기법(behavior-based decentralized method)을 활용하여 복수 무인기의 군집 비행을 위한 강인 제어기를 제안한다. 행위 기반 분산 기법을 활용한 복수 무인기의 군집 비행은 주변 무인기들의 정보만을 활용하여 편대를 이루게 되므로 많은 장점을 갖는다. 본 논문에서는 무인기 시스템에 크기가 제한된 시변 외란(time varying bounded disturbance)이 존재하는 상황에서, 주변 무인기들의 위치와 속도를 모두 활용하는 경우와 위치만을 활용하는 경우로 나뉘어 제어기를 설계하며, 위치만을 활용하는 경우 passivity 기법을 적용하여 제어기를 설계한다. 제안된 제어기는 시간에 의존하는 제한된 외란이 존재하는 상황에서 전체 폐루프 시스템의 uniformly ultimate boundedness 특성을 보장한다. 수치 시뮬레이션을 통해 제안된 제어기법의 타당성을 검증한다.