• 전기전자학회논문지
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• 제19권4호
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• pp.520-525
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• 2015

본 논문은 통신 지연이 존재하는 고차적분기 시스템의 일치문제를 다룬다. 리카티 방정식 기반의 제어기법과 시간지연의 효과를 제거해주는 부가적인 설계변수를 도입함으로써 임의로 큰 통신 지연이 존재하는 경우에도 일치 문제를 해결할 수 있음을 증명한다. 또한, 단지 하나의 변수만 설계하면 되기 때문에 기존의 설계 방법에 비하여 매우 간단하고 제어기의 존재성이 통신지연의 크기에 의존하지 않는다는 장점을 가진다.

• Journal of information and communication convergence engineering
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• 제17권3호
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• pp.167-173
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• 2019

This study investigates the problem of leader-following consensus for multi-agent systems with output saturations. This study assumes that the agents are described as a neutrally stable system, and the leader agent generates the bounded trajectory within the saturation level. Then, the objective of the leader-following consensus is to track the trajectory of the leader by exchanging information with neighbors. To solve this problem, we propose an observer-based distributed consensus algorithm. Then, we provide a consensus analysis by applying the Lyapunov stability theorem and LaSalle's invariance principle. The result shows that the agents achieve the leader-following consensus in a global sense. Moreover, we can achieve the consensus by choosing any positive control gain. Finally, we perform a numerical simulation to demonstrate the validity of the proposed algorithm.

• 한국정보처리학회논문지
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• 제7권12호
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• pp.3815-3820
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• 2000

본 논문에서는 비동기적 분산 시스템에서 산출(Election) 문제를 해결하는데 필요한 최소한의 조건에 대해 논하고자 한다. 이 논문의 핵심은 비동기적 분산 시스템에서 산출 문제를 해결하는데 가장 약한 고장 추적장치는 무엇인가를 찾아내는 데 있다. 먼저 비동기적 분산 시스템에서 산출 문제와 합의(Consensus)문제에 대한 관련성을 토의하고 선출 문제는 합의 문제보다 더욱 어려운 문제임을 보인다. 보다 엄밀하게 표현하자면, 선출 문제를 해결하는데 필요한 가장 약한 고장 추적 장치는 완전한 고장 추적 장치이어야 하는 것으로, 이는 합의 문제를 해결하는데 필요한 가장 약한 고장 추적 장치보다 확실히 강한 것이다.

• 한국컴퓨터정보학회논문지
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• 제8권4호
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• pp.35-40
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• 2003

분산시스템 환경에서, 흩어져 있는 다양한 형태의 자원들을 통제하고 관리하기 위해서는 분산된 여러 프로세스들 가운데 조정자(coordinator)로서의 역할을 담당할 특별한 프로세스를 필요로 한다. 이러한 조정자 프로세스를 통상 리더(leader)라고 부르며 리더를 선출하기 위한 알고리즘은 신뢰성있는 분산시스템을 구축하는 데 필수적인 중요한 요소가 된다. 이 논문에서는 특별히 failure detector(FD)를 구현한 비동기 분산시스템 환경에서 선출 문제 및 컨센서스 문제 간의 상관관계를 통해 제기되는 문제를 다루고자 한다. 먼저, 시스템 모델을 정의하고 그 다음으로 리더 선출을 설명한 후 마지막으로 축소 프로토콜을 이용하여 선출 문제가 컨센서스 문제에 비해 상대적으로 어려움을 증명하도록 할 것이다.

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.390-397
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• 2013

This paper presents a consensus algorithm for uMAS (uncertain Multi-Agent Systems). Unlike previous results in which only nominal models for agents are considered, it is assumed that the uncertain agent model belongs to a known polytope set. In the middle of deriving the proposed algorithm, a convex set is found which includes all uncertainties in the problem using convexity of the polytope set. This set plays an important role in designing the consensus algorithm for uMAS. Based on the set, a consensus condition for uMAS is proposed and the corresponding consensus design problem is solved using LMI (Linear Matrix Inequality). Simulation result shows that the proposed consensus algorithm successfully leads to consensus of the state of uMAS.

• International Journal of Aeronautical and Space Sciences
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• 제18권3호
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• pp.522-534
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• 2017

According to the characteristics of salvo attack for the multiple flight vehicles (MFV), the design of cooperative guidance law can be converted into the consensus problem of multi-vehicle system through the concept of multi-agent cooperative control. The flight vehicles can be divided into leader and followers depending on different functions, and the flight conditions of leader are independent of the ones of followers. The consensus problem of leader-follower multi-vehicle system is researched by graph theory, and the consensus protocol is also presented. Meanwhile, the finite time guidance law is designed for the flight vehicles via the finite time control method, and the system stability is also analyzed. Whereby, the guidance law can guarantee the line of sight (LOS) angular rates converge to zero in finite time, and hence the cooperative attack of the MFV can be realized. The effectiveness of the designed cooperative guidance method is validated through the simulation with a stationary target and a moving target, respectively.

• 산업경영시스템학회지
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• 제45권1호
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• pp.1-9
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• 2022

The PoN (Proof of Nonce) distributed consensus algorithm basically uses a non-competitive consensus method that can guarantee an equal opportunity for all nodes to participate in the block generation process, and this method was expected to resolve the first trilemma of the blockchain, called the decentralization problem. However, the decentralization performance of the PoN distributed consensus algorithm can be greatly affected by the network transaction transmission delay characteristics of the nodes composing the block chain system. In particular, in the consensus process, differences in network node performance may significantly affect the composition of the congress and committee on a first-come, first-served basis. Therefore, in this paper, we presented a problem by analyzing the decentralization performance of the PoN distributed consensus algorithm, and suggested a fairness control algorithm using a learning-based probabilistic acceptance rule to improve it. In addition, we verified the superiority of the proposed algorithm by conducting a numerical experiment, while considering the block chain systems composed of various heterogeneous characteristic systems with different network transmission delay.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.617-621
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• 2012

This paper studies asymptotic consensus problem for linear multi-agent systems. We propose a distributed state feedback control algorithm for solving the problem under fixed and undirected network communication. In contrast with the conventional algorithms that use global information (e.g., graph connectivity), the proposed algorithm only uses local information from neighbors. The principle for achieving asymptotic consensus is that, for each agent, a distributed update law gradually increases the coupling gain of LQR-type feedback and thus, the overall stability of the multi-agent system is recovered by the gain margin of LQR.

• 전기전자학회논문지
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• 제22권1호
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• pp.121-126
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• 2018

본 논문은 관측기 기반의 제어기를 이용한 비선형 다개체 시스템의 일치문제를 다룬다. 이를 위하여 기존의 저이득 제어기에 고이득 접근방법을 결합한다. 리아푸노프 방법을 이용하여 제안한 관측기 기반의 일치 제어기가 삼각구조 비선형 시스템의 일치를 보장해줌을 보인다.

• 한국군사과학기술학회지
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• 제14권5호
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• pp.941-947
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• 2011

This paper deals with the consensus problem for multi-agent linear dynamic systems with directed communication topology. All the agents are identical high-order linear systems and their state information is exchanged through a communication network with directed graph. It is shown that a consensus is achieved if there exists a feasible solution to a set of linear matrix inequalities obtained for a simultaneous stabilization problem for multiple systems. Examples are presented to show the effectiveness of the proposed method.