• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.27.4-27
• /
• 2001

A stabilizing control method for linear systems with model uncertainties and hard input constraints is developed, which does not require on-line optimizations. This work is motivated by the constrained robust MPC(CRMPC) approach [3] which adopts the dual mode prediction strategy (i.e. free control moves and invariant set) and minimizes a worst case performance criterion. Based on the observation that, a feasible control sequence for a particular state can be found as a linear combination of feasible sequences for other states, we suggest a stabilizing control algorithm providing sub-optimal and feasible control sequences using pre-computed optimal sequences for some canonical states. The on-line computation of the proposed method reduces to simple matrix multiplication.

• International Journal of Control, Automation, and Systems
• /
• 제3권3호
• /
• pp.502-507
• /
• 2005

The dual-mode strategy has been adopted in many constrained MPC (Model Predictive Control) methods. The size of stabilizable regions of states of MPC methods depends on the size of underlying feasible and positively invariant sets and the number of control moves. The results, however, may perhaps be conservative because the definition of positive invariance does not allow temporal departure of states from the set. In this paper, a concept of periodic invariance is introduced in which states are allowed to leave a set temporarily but return into the set in finite time steps. The periodic invariance can be defined with respect to sets of different state feedback gains. These facts make it possible for the periodically invariant sets to be considerably larger than ordinary invariant sets. The periodic invariance can be defined for systems with polyhedral model uncertainties. We derive a MPC method based on these periodically invariant sets. Some numerical examples are given to show that the use of periodic invariance yields considerably larger stabilizable sets than the case of using ordinary invariance.

• 한국정밀공학회지
• /
• 제16권5호통권98호
• /
• pp.169-174
• /
• 1999

In this paper, the CLQR(Constrained LQR) controller, which considers the actuator saturation in a cross-product term of a given performance index for an automotive active suspension control has been proposed. The effects of actuator saturations have been reflected directly in the states by using the linear relation between the control input and states. The method proposed here is more effective and intuitive compared with the conventional schemes. The CLQR has been applied to designing an automotive active suspension control system to verify its effectiveness and practical aspects.

• 전기학회논문지
• /
• 제61권7호
• /
• pp.1019-1023
• /
• 2012

This paper considers a model predictive control problem of discrete-time constrained systems with time-varying delay. For this problem, a delay dependent state feedback control approach is used to achieve asymptotic stabilization of systems with input constraints. Based on Lyapunov stability theory, a new stability condition is obtained via linear matrix inequality formulation to find cost monotonicity condition of the model predictive control algorithm which guarantee the closed loop stability. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our results.

• International Journal of Control, Automation, and Systems
• /
• 제1권2호
• /
• pp.178-183
• /
• 2003

This work is a modified version of an earlier work that was based on ellipsoidal type feasible sets. Unlike the earlier work, polyhedral types of invariant and feasible sets are adopted to deal with input constraints. The use of polyhedral sets enables the formulation of on-line algorithm in terms of QP (Quadratic Programming), which can be solved more efficiently than semi-def algorithms. A simple numerical example shows that the proposed method yields larger stabilizable sets with greater bounds on disturbances than is the case in the earlier approach.

• 자원ㆍ환경경제연구
• /
• 제20권2호
• /
• pp.167-198
• /
• 2011

최근 우리나라는 2020년 Business-As-Usual(BAU) 대비 30%를 감축하는 탄소배출 감축안을 목표로 설정하였다. 탄소배출 감축목표 달성의 한 방편으로 탄소배출권 거래제가 논의되고 있는 상황이지만, 탄소배출권 거래제를 실시하기 위해서는 가장 먼저 초기 탄소배출권의 배분문제가 해결되어야 한다. 본 연구에서는 탄소배출권 초기배분방식 결정이 우리 경제에 어떠한 영향을 미칠 수 있는가를 중심으로 살펴보았다. 이를 위해 협조적 게임이론인 bankruptcy problem에서의 배분방법을 적용해 배출권을 각 산업별로 배분하였다. 산업별 이산화탄소 배출량은 에너지 통계와 산업연관표를 결합한 하이브리드 산업연관표를 이용해 추계하였다. 세 가지 분배방법에 따른 경제적 파급효과 분석에는 녹색성장회계(green growth accounting) 방식이 적용되었다. 분석결과, 2005년~2007년 기간 동안 우리나라의 연평균 경제성장률은 약 4.36%로 추계되는데, Proportional rule에 의한 배분에 의하면 4.03%, Constrained Equal Awards rule에 의한 배분에서는 4.23%, 마지막으로 Constrained Equal Losses rule에 의한 배분으로는 3.67%로 추산되었다. 따라서 경제성장률 측면에서 보면 Constrained Equal Awards rule에 의한 초기 탄소배출권 배분이 가장 바람직한 것으로 분석된다. 이처럼 초기 배출권의 산업별 배분방식이 어떻게 결정되느냐에 따라 경제에 미치는 파급효과가 매우 상이하게 나타나기 때문에 탄소배출권 도입 및 시행을 위해서는 산업 수준의 연구결과를 반영해야 하며, 각 산업의 특성을 고려해야 할 것으로 보인다.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2009년도 추계학술대회
• /
• pp.474-476
• /
• 2009

반향제거 또는 채널등화와 같은 무선통신 시스템에서 적응필터링은 매우 실용적이다. 적응필터의 계수갱신을 위해 사용되는 적응 알고리즘의 수렴성능은 입력신호의 상관도와 적응필터의 길이에 의존한다. 높은 입력상관도와 긴 길이의 적응필터는 수렴성능을 저하하므로 이러한 문제점을 해결하기 위해 최근 부밴드 구조에서 입력상관도를 사전제거하고 적응필터 계수를 갱신하는 부밴드 AP 알고리즘이 제안되었다. 본 논문에서는 다중제한조건을 갖는 부밴드 AP 알고리즘의 수렴성능 해석방법을 제시한다.

• International Journal of Control, Automation, and Systems
• /
• 제5권6호
• /
• pp.707-711
• /
• 2007

An observer-based fault tolerant control (FTC) method is proposed for constrained switched systems (CSS) with input constraints. A family of Lyapunov-based bounded controllers are designed to ensure that, whenever actuator faults occur at the dwell time period of each continuous mode, the mode is always within its corresponding stability region. A set of switching laws are designed to guarantee the asymptotic stability of the overall CSS. The fixed stability regions on which the FTC method is based are also relaxed by the proposed variable stability regions. An example of CPU processing illustrates the effectiveness of proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.376-382
• /
• 1991

In the analysis of constrained holonomic systems, the Lagange multiplier method yields a system of second-order ordinary differential equations of motion and algebraic constraint equations. Conventional holonomic or nonholonomic constraints are defined as geometric constraints in this paper. Previous works concentrate on the geometric constraints. However, if the total energy of a dynamic system can be computed from the initial energy plus the time integral of the energy input rate due to external or internal forces, then the total energy can be artificially treated as a constraint. The violation of the total energy constraint due to numerical errors can be used as information to control these errors. It is a necessary condition for accurate simulation that both geometric and energy constraints be satisfied. When geometric constraint control is combined with energy constraint control, numerical simulation of a constrained dynamic system becomes more accurate. A new convenient and effective method to implement energy constraint control in numerical simulation is developed based on the geometric interpretation of the relation between constraints in the phase space. Several combinations of energy constraint control with either Baumgarte's Constraint Violation Stabilization Method (CVSM) are also addressed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1911-1916
• /
• 2003

Parameter set of an LPV system is divided into a number of subsets so that robust feedback gains may be designed for each subset of parameters. A concept of quasi-invariant set is introduced, which allows finite steps of delay in reentrance to the set. A feasible and positively invariant set with respect to a gain-scheduled state feedback control can be easily obtained from the quasi-invariant set. A receding horizon control strategy can be derived based on this feasible and invariant set.