• Journal of Mechanical Science and Technology
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• 제16권10호
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• pp.1187-1200
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• 2002

This paper is concerned with the design or an LMI (Linear Matrix Inequality) -based H$\infty$ controller for a line of sight (LOS) stabilization system and with its robustness performance. The linearization of the system is necessary to analyze various nonlinear characteristics, but the linearization entails modeling uncertainties which reduce its performance. In addition, the stability of the LOS can be adversely affected by angular velocity disturbances while the vehicle is moving. As the vehicle accelerates, all the factors that are Ignored and simplified for the linearization tend to Inhibit the performance of the system. The robustness in the face of these uncertainties needs to be assured. This paper employs H$\infty$ control theory to address these problems and the LMI method to provide a suitable controller with minimal constraints for the system. Even though the system matrix does not have a full rank, the proposed method makes it possible to design a H$\infty$ controller and to deal with R and S matrices for reducing the system order. It can be also shown that the proposed robust controller has a better disturbance attenuation and tracking performance. The LMI method is also used to enhance the applicability of the proposed reduced-order H$\infty$ controller for the system given. The LMI-based H$\infty$ controller has superior disturbance attenuation and reference input tracking performance, compared with that of the conventional controller under real disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1060-1065
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• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• 한국지능시스템학회논문지
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• 제20권5호
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• pp.617-623
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• 2010

본 논문에서는 차륜형 역진자에 적용되는 LMI 제어기 설계와 그 수치 시뮬레이션이 수행되었다. 차륜형 역진자는 2개의 평형점을 갖고 있는 역진자의 일종이다. 불안정한 평형점에 대하여 평형을 유지하기 위하여 차륜형 역진자는 지속적으로 제어되어야 한다. 경사면을 고려하여 차륜형 역진자의 동역학 방정식이 유도되었다. 경사면을 적극적으로 고려하여 차륜형 역진자를 안정화 시킬 수 있는 제어기를 구성하는데 선형행렬부등식 기법이 적용되었다. LMI 기반 제어기가 평면과 경사면에 대해서 유효함을 보이기 위해서 다양한 수치 시뮬레이션이 수행되었다.

• 응용통계연구
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• 제16권1호
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• pp.87-100
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• 2003

서로 연관관계에 있는 실제의 통계자료들은 동태적, 확률적 동시발생적으로 유발되며, 이로 인해 한 자료의 변동이 다른 자료에 미치는 영향은 같은 기간 뿐 아니라 시차를 두고 여러 기간에 걸쳐 지속되며 조정되어 간다. 그러나 일반적인 선형, 비선형 통계모형을 사용하여 현실동향을 분석하는 경우 자료의 이러한 특성에서 오는 시차관계를 통상 무시함으로써 변수 사이의 관계는 같은 기간 내에 결정되어야 하는 제약이 가해지게 된다. 그 결과 시간이 흐름에 따라 이들의 관계가 변화하는 과정이나 한 변수의 변동이 다른 변수에 미치는 장기적 영향도 추정할 수 없을 뿐 아니라 현실여건의 변동이나 전개과정을 설명하는 데도 큰 결함을 갖게 된다. 시차관계가 존재하는 변수에 실제 여건에 합당한 시차구조가 설정되면 현실이 정확히 반영되고, 모형에 내재된 변수들의 장단기 변동상황과 동태적 적응과정이 파악됨과 동시에 다양한 분석이 가능해지므로 모형의 활용도는 높아지게 된다.

• Structural Engineering and Mechanics
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• 제90권1호
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• pp.19-26
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• 2024

In recent years, an increasing number of experimental studies have shown that the practical application of mature active control systems requires consideration of robustness criteria in the design process, including the reduction of tracking errors, operational resistance to external disturbances, and measurement noise, as well as robustness and stability. Good uncertainty prediction is thus proposed to solve problems caused by poor parameter selection and to remove the effects of dynamic coupling between degrees of freedom (DOF) in nonlinear systems. To overcome the stability problem, this study develops an advanced adaptive predictive fuzzy controller, which not only solves the programming problem of determining system stability but also uses the law of linear matrix inequality (LMI) to modify the fuzzy problem. The following parameters are used to manipulate the fuzzy controller of the robotic system to improve its control performance. The simulations for system uncertainty in the controller design emphasized the use of acceleration feedback for practical reasons. The simulation results also show that the proposed H∞ controller has excellent performance and reliability, and the effectiveness of the LMI-based method is also recognized. Therefore, this dynamic control method is suitable for seismic protection of civil buildings. The objectives of this document are access to adequate, safe, and affordable housing and basic services, promotion of inclusive and sustainable urbanization, implementation of sustainable disaster-resilient construction, sustainable planning, and sustainable management of human settlements. Simulation results of linear and non-linear structures demonstrate the ability of this method to identify structures and their changes due to damage. Therefore, with the continuous development of artificial intelligence and fuzzy theory, it seems that this goal will be achieved in the near future.

• 중소기업융합학회논문지
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• 제3권1호
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• pp.7-13
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• 2013

최근 몇 십년간 한국시장에서의 임금 변화, 노동시간과 여가시간에 대한 가치는 매우 빨리 증가하였다. 고전학파의 우상향하는 노동공급곡선은 여가의 가치와 관련되어 수정되어야 한다는 Robert E. Prasch의 재수정된 후방굴절형(backward-bending) 노동공급곡선 모형을 바탕으로 과연 한국의 상황에서도 이러한 결과가 나타나는가를 살펴보고자 하였다. 임금과 노동시간과의 관계를 살펴보고, 역동적인 노동시장 안에서, 낮은 임금에서의 불균등한 계약 효과를 감소시키기 위한 형평성(equity)과 효율성(efficiency)사이의 상호작용 측면, 최소 임금과 최대 노동시간에 대한 현실적인 측면을 제안하고자 한다. 본 연구는 한국노동연구원의 "한국노동패널" 조사 1차(1998)년도에서 10차(2007)년도 자료를 활용하여 외환위기 이후 국내의 임금과 노동시간관계를 파악하였다.

• PNF and Movement
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• 제17권3호
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• pp.391-399
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• 2019

Purpose: This study investigated the three-dimensional moment values of the hip joint for subjects with artificial leg length alterations and subjects with unaltered leg lengths. Methods: Forty-two healthy adults (8 men, 34 women) participated in this study. The selected subjects were able to walk normally, had less than a 1 cm leg length discrepancy, and were instructed to wear shoes that fit their feet. The study participants performed 8 dynamic gait trails to measure the hip joint moment using a three-dimensional motion analysis system. Kinetic and dynamic three-dimensional gait analysis data were collected from infrared cameras, and a force plate was used to standardize the weight of each subject. Results: There were significant correlations between the differences in the leg length discrepancy during right extension, right flexion, right internal rotation, and left extension in hip joint moments (p<0.05). There were significant correlations between the differences in shoe conditions during left extension, right flexion, right extension, and right internal rotation in the hip moments (p<0.05). Conclusion: This study suggests that a leg length discrepancy can affect hip joint moment, which may further exacerbate musculoskeletal disorders, such as osteoarthritis in lower extremity joints. Therefore, further studies should be conducted to verify the impact of clinical interventions on differences in hip joint moment values to correct leg length discrepancies and prevent osteoarthritis in lower extremity joints.

• Journal of Electrical Engineering and Technology
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• 제7권4호
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• pp.513-523
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• 2012

For precisely regulating the speed of a permanent magnet synchronous motor system with unknown load torque disturbance and disturbance inputs, an LMI-based sliding mode control scheme is proposed in this paper. After a brief review of the PMSM mathematical model, the sliding mode control law is designed in terms of linear matrix inequalities (LMIs). By adding an extended observer which estimates the unknown load torque, the proposed speed tracking controller can guarantee a good control performance. The stability of the proposed control system is proven through the reachability condition and an approximate method to implement the chattering reduction is also presented. The proposed control algorithm is implemented by using a digital signal processor (DSP) TMS320F28335. The simulation and experimental results verify that the proposed methodology achieves a more robust performance and a faster dynamic response than the conventional linear PI control method in the presence of PMSM parameter uncertainties and unknown external noises.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.460-465
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• 2004

In this paper, we present some properties on receding horizon $H_{\infty}$ control for nonlinear discrete-time systems. First, we propose the nonlinear inequality condition on the terminal cost for nonlinear discrete-time systems. Under this condition, noninceasing monotonicity of the saddle point value of the finite horizon dynamic game is shown to be guaranteed. We show that the derived condition on the terminal cost ensures the closed-loop internal stability. The proposed receding horizon $H_{\infty}$ control guarantees the infinite horizon $H_{\infty}$ norm bound of the closed-loop systems. Also, using this cost monotonicity condition, we can guarantee the asymptotic infinite horizon optimality of the receding horizon value function. With the additional condition, the global result and the input-to-state stable property of the receding horizon value function are also given. Finally, we derive the stability margin for the saddle point value based receding horizon controller. The proposed result has a larger stability region than the existing inverse optimality based results.

• Smart Structures and Systems
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• 제22권5호
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• pp.547-560
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• 2018

This paper investigates the operation of the $H_{\infty}$ static output-feedback controller to reduce dynamic responses under seismic excitation on the five-story and benchmark 20 story building with parametric uncertainties. Linear matrix inequality (LMI) control theory is applied in this system and then to achieve the desired LMI formulations, some transformations of the LMI variables is used. Conversely uncertainties due to material properties, environmental loads such as earthquake and wind hazards make the uncertain system. This problem and its effects are studied in this research. Also to decrease the transition of large amount of data between sensors and controller, avoiding the disruption of whole control system and economy problems, the operation of the decentralized controllers is investigated in this paper. For this purpose the comparison between the performance of the centralized, fully decentralized and partial decentralized controllers in uncoupled and coupled cases is performed. Also, the effect of the changing the number of stories in substructures is considered. Based on the numerical results, the used control algorithm is very robust against the parametric uncertainties and structural responses are decreased considerably in all the control cases but partial decentralized controller in coupled form gets the closest results to the centralized case. The results indicate the high applicability of the used control algorithm in the tall shear buildings to reduce the structural responses and its robustness against the uncertainties.