• 제목/요약/키워드: leader-following approach

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입력 제한을 가진 추종 로봇을 고려한 선도 로봇 제어기 (Leader Robot Controller Considering Follower with Input Constraint)

  • 이승주;홍석교
    • 전기학회논문지
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    • 제61권7호
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    • pp.1032-1040
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    • 2012
  • This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.

미지의 파라미터를 갖는 이동 로봇들을 위한 선도-추종 방법 기반 적응 군집 제어 (Leader-following Approach Based Adaptive Formation Control for Mobile Robots with Unknown Parameters)

  • 문써레;박봉석;최윤호;박진배
    • 전기학회논문지
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    • 제60권8호
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    • pp.1592-1598
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    • 2011
  • In this paper, a formation control method based on the leader-following approach for nonholonomic mobile robots is proposed. In the previous works, it is assumed that the followers know the leader's velocity by means of communication. However, it is difficult that the followers correctly know the leader's velocity due to the contamination or delay of information. Thus, in this paper, an adaptive approach based on the parameter projection algorithm is proposed to estimate the leader's velocity. Moreover, the adaptive backstepping technique is used to compensate the effects of a dynamic model with the unknown time-invariant and time-varying parameters. From the Lyapunov stability theory, it is proved that the errors of the closed-loop system are uniformly ultimately bounded. Simulation results illustrate the effectiveness of the proposed control method.

다개체 이동 로봇을 위한 선도-추종 접근법 기반 적응 군집 제어 (Leader-Following Based Adaptive Formation Control for Multiple Mobile Robots)

  • 박봉석;박진배
    • 제어로봇시스템학회논문지
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    • 제16권5호
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    • pp.428-432
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    • 2010
  • In this paper, an adaptive formation control based on the leader-following approach is proposed for multiple mobile robots with time varying parameters. The proposed controller does not require the velocity information of the leader robot, which is commonly assumed that it is either measured or telecommunicated. In order to estimate time varying velocities of the leader robot, the smooth projection algorithm is employed. From the Lyapunov stability theory, it is proved that the proposed control scheme can guarantee the uniform ultimate boundedness of error signals of the closed-loop system. Finally, the computer simulations are performed to demonstrate the performance of the proposed control system.

다중모바일로봇의 리더추종을 위한 샘플데이타 모델예측제어 (Sampled-Data MPC for Leader-Following of Multi-Mobile Robot System)

  • 한승용;이상문
    • 전기학회논문지
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    • 제67권2호
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    • pp.308-313
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    • 2018
  • In this paper, we propose a sampled-data model predictive tracking control deign for leader-following control of multi-mobile robot system. The error dynamics of leader-following robots is modeled as a Linear Parameter Varying (LPV) model. Also, the Lyapunov function is presented to guarantee stability of the networked control system. Based on the stabilization condition using a quadratic Lyapunov function approach, model predictive sampled-data controller is designed. Finally, the leader-following control of multi mobile robots is simulated to show effectiveness of the proposed method.

모델 불확실성 및 외란을 갖는 이동 로봇들을 위한 적응 슬라이딩 모드 군집 제어 및 충돌 회피 기법 (Adaptive Sliding-Mode Formation Control and Collision Avoidance for Multi-agent Nonholonomic Mobile Robots with Model Uncertainty and Disturbance)

  • 박봉석;박진배
    • 제어로봇시스템학회논문지
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    • 제16권11호
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    • pp.1038-1043
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    • 2010
  • In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.

전자무역결제 유형의 제도적 상호관계성에 따른 접근방안 (An Approach on the Scheme Interactive of Electronic Trade Payment System Type)

  • 이제홍
    • 통상정보연구
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    • 제9권1호
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    • pp.149-168
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    • 2007
  • e-Trade Payment system has been transformed by quickly and effectively. The e-trade Payment system such as TradeCard System, Bolero Surf, Identrus Eleanor and e-Escrow and e-letter of Credit issued by SWIFT System enable partly sellers, buyers and service providers. This paper studies for SWIFT, Surf, TradeCard, Eleanor, e-Escrow as international trade payment, As reason following : The First, Bolero is a neutral secure platform enabling paperless trading between exporter, importer, and their logistics service and bank partners, insurance company. The Second, TradeCard is to manage procurement-to-payment worldwide, that is exporter, importer and connected partners, paperless platform. The Third, Identrus is the global leader in trusted identity solutions, recognized by global financial institutions, commercial organizations and bank partners around the world. The Forth, Escrow payment have effect to L/C issue and enter into electronic contracts in internet bank. Trader practice use Escrow Bank as the same bank that rules to Issuing Bank and Advising Bank and payment, acceptance. This paper of these electronic payment have studies new international trade payment to approach such as eUCP rules and TradeCard System, Surf of bolero, eleanor of Identrus, SWIFT.

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우수 스포츠지도자로 성장하는 프로골퍼의 삶 탐색 (Examination of the Lives of Professional Golfers Growing to Excellent Sports Leaders)

  • 김동기
    • 한국응용과학기술학회지
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    • 제37권2호
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    • pp.303-317
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    • 2020
  • 본 연구는 우수 스포츠지도자로 성장하는 프로골퍼의 삶 탐색이 형성되는 과정을 개념화 하고, 그 개념들을 범주화 하여, 범주들 간의 모형을 제시하는데 목적이 있다. 이러한 직업형성 변화과정을 심층적으로 밝혀내기 위해서 질적 연구 방법인 '근거 이론'이 본 연구 방법의 방법론적 틀로 사용되었으며, 연구 참여자 선택 방법은 비확률표본추출법의 하나인 눈덩이식 표집법(snowball sampling)을 사용하였다. 적극적인 자기표현과 긍정적으로 연구자와의 대화가 가능한 10명의 연구 참여자를 선정하였다. 이와 같은 과정연구에 적합한 근거 이론적 접근을 통하여 다음과 같은 결론을 얻을 수 있었다. 첫째, 우수 스포츠지도자로의 성장하는 프로골퍼의 삶 탐색이라는 인과적 조건을 통해 골프지도자로의 전문적인 지도방법, 교육적 신념의 중심현상으로 연결되었다. 이 과정에서 새로운 직업의 매력, 관계형성이라는 새로운 경험으로서의 변화는 맥락적 조건으로서의 기능으로 영향을 미치게 된다. 이러한 상황에서 골프지도자는 자신의 신념과 처한 상황에 따라 자기 개발 노력과 전문지식 습득 등의 자가 노력을 통해 보다 완성된 골프지도자가 되고자 하며, 이 과정을 통해 확고한 골프지도자의 삶을 확립하게 되었다. 둘째, 우수 스포츠지도자로 성장하는 프로골퍼의 삶의 변화를 분석한 결과 총 개의 141개념, 하위범주 17개, 상위범주 11개로 추상화되는 근거 이론적 패러다임을 구성하게 되었다.

마테오 리치와 대순사상의 관계성에 대한 연구 - 대순사상의 기독교 종장에 대한 종교현상학적 해석 - (A Study on the Relation between Matteo Ricci and Daesoon Thought: A Phenomenological Interpretation of Ricci in Daesoon Thought)

  • 안신
    • 대순사상논총
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    • 제36집
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    • pp.117-152
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    • 2020
  • 대순사상에서 마테오 리치는 기독교의 종장으로 높이 평가받고 있다. 본 논문은 종교적 인간으로서 리치의 삶과 사상이 지니는 의미를 종교현상학적 관점에서 탐색할 것이다. 리치가 살았던 시대적 배경과 그의 생애를 분석하고, 그의 신관과 인간관 및 구원관을 중심으로 탐구하여 리치가 대순사상에서 지닌 관계성을 재평가할 것이다. 이탈리아에서 태어난 리치는 예수회 선교사가 되어서 중국에 다양한 문물을 전하였다. 그는 예수회의 중국 친화적인 선교정책에 따라서 중국문화에 공감하며 언어를 배우고 중국인을 벗으로 삼아서 서양의 종교와 문화를 전달하였다. 그는 중국의 미래를 낙관하는 여덟 가지 이유를 제시하였고, 이해와 설득의 간접 선교의 방식으로 중국인들에게 기독교메시지를 가르쳤다. 예수회신부들은 중국에서 기독교의 신을 천주라고 불렀는데, 리치는 유교의 상제를 기독교의 천주와 동일하게 간주하였다. 유교경전의 번역과 해석을 토대로 원시유교의 유일신론을 기독교와 유교의 공통점으로 파악하였다. 불교와 도교의 신관을 비판하면서 유교의 신관을 통해 기독교의 신관을 정당화하였다. 리치의 인간관은 기독교의 창조신앙을 기초로 하였고 불교의 윤회를 비판하였다. 리치는 천국과 지옥의 개념을 사용하여 기독교의 윤리성과 구원관을 제시하였다. 대순사상과 리치의 관계성에 대해서는, 1) 동서양세계 간 상호교류에 대한 기여, 2) 대화와 설득에 기반을 둔 평화적 포교방식, 3) 기독교의 종장으로서의 다양한 활동, 4) 종교의 치유하는 기적에 대한 믿음과 조선으로의 유입 등의 차원에서 의미를 찾았다. 리치의 궁극적인 목적은 기독교와 유교의 신관이 지닌 공통점을 강조하면서 동서의 세계관을 교류하고 통합시키는 것이었다.

카산드르의"뒤보네"광고포스터 연구 (A study on cassandre's advertising poster"Dubonnet")

  • 강순천
    • 디자인학연구
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    • 16호
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    • pp.185-196
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    • 1996
  • The series of ‘Dubonnet’poster is one of the masterpieces of Cassandre who was the leader of advertising poster in 1920's and 1930's. Orihinally it was a triptych, but it was developed as a serial work later through lettering and seasonal advertising posters. It was kept in circulation for more than two decades and issued in a variety of formats. In this thesis I tried to figure out the artistic character and uniqueness of Cassandre's poster by analyzing it with many different points of view of the poster, the stream of changing style and influence from the Avant-garde painting. In chapterII, objectively analyzing the series of‘Dubonnet’one by one, I examined the method that Cassandre used to deliver the concept of advertising and his message. The triptych, the first one of series of Dubonnet poster is witty, the slogan is a pun using the words dubo(doubt), bon(good), and Dubonnet, and the theme is treated as an animated sequence in the manner of a comic strip. In the following winter and summer seasonal advertising posters, the‘Dubonnet man’in the same position is enjoying the‘Dubonnet’, irrespective of the hazards of climate and season, There was a change towards 1929 that rectilinear design gave place to supple and undulating lines in Cassandre's posters. Seasonal advertising posters also showed the change, and the tendency of realistic and concrete elements of an expression was strengthened. In chapterIII, I studied three as main characters of Cassandre's poster. The first one is simple and geometric expression, second one is uniqueness of figures and the last one is important roll of lettering. Cassandre believed that there were fundamental differences between the function of a poster and that of a painting. He also recognized that the symbol was the essential element in the poster design, which would be simply and swiftly recognized. The recognition led him to simple design and bold geometric abstraction. He was a man who knew the value of copy in advertising and developed it fully in his simplified geometric compositions by integrating of letterforms and image. The‘Dubonnet man’is geometrized, almost featureless. This approach of rendering human beings was one that Cassandre had used from the early years, most notably in his posters for Dubonnet.

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PL 리더십 성향과 프로젝트 특성요인이 프로젝트 참여 만족 및 성과에 미치는 영향 (The Effect of PL Leadership and Characteristics of Project on Project Participants' Satisfaction and Performance)

  • 양희동;김명진;강소라
    • Asia pacific journal of information systems
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    • 제20권4호
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    • pp.53-79
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    • 2010
  • The study was originated from recognition that project participants' satisfaction should be Improved to raise project performance and to make progress of a successful project since the above dissatisfaction was operated as a danger factor of the project. The study selected one large-scale sample project and attempted measuring characteristics of the project, participants' satisfaction and project performance with the whole project participants. The study analyzed correlations between individual level (team members) and group level (development team), and examined what effect a sub project manager under complicated hierarchical organization of the large-scale project, namely PL (project leader)'s leadership style had on each individual project participant's satisfaction and what effect project uncertainty in organization/technology environment had on project participants' satisfaction and project performance. The study verified that development team (group) had an effect on team member (individual)-level project participants' satisfaction by disclosing that there was a significant dispersion among groups within project participants' satisfaction by each individual. It is analyzed that it is necessary to make improvement through approach by each pertinent team to raise individual-level project participants' satisfaction. The study also verified PL's ideal leadership under strict methodology and hierarchical control of the large-scale project. Based on the verification of the hypotheses, the results of the analysis were produced as follows. First, the development team affects the satisfaction level that an individual has when he/she participates in a project. This suggests that the satisfaction with project participation should be improved at the team level. In addition, the project management style and leadership orientation of the manager of a sub project who is mostly affected by the team proved to have a direct influence on the satisfaction with project participation and project performances. Second, both the performance-oriented leadership and the relationship-oriented leadership of the PL of the development team were verified to have a significant effect on the satisfaction of the team members associated with project participation. In other words, when the team members recognize that the PL of the development team shows both the performance-oriented leadership and the relationship-oriented leadership, their satisfaction with project participation increases accordingly. Third, it was verified that the uncertainty of the organizational environment significantly affects the satisfaction level when the PL of the development team exerts a relationship-oriented and performance-oriented leadership. The higher the uncertainty of the organizational environment is, the more the satisfaction with project participation decreases whereas the relationship-oriented leadership has a more positive effect on the satisfaction than the performance-oriented leadership style. Fourth, when the PL of the development team exerts the relationship-related and performance-related leadership, the uncertainty of the technological environment has a significant influence on the satisfaction level. The higher the uncertainty of the technological environment is, the more the satisfaction with project participation decreases whereas the performance-oriented leadership has a more positive effect on the satisfaction than the relationship-oriented leadership style. The result of the research on the uncertainty of the project environment suggests that when the development team leader exerts a relationship-oriented and performance-oriented leadership style, the uncertainty of the organizational environment has a significant effect on the satisfaction with project participation; the higher the uncertainty of the organizational environment, the more the satisfaction level decreases, and the relationship-oriented leadership style affects the satisfaction level more positively than the performance-oriented leadership style. In addition, when the development team leader displays a relationship-oriented and performance-oriented leadership style, the uncertainty of the technological environment has a significant effect on the satisfaction with project participation; the higher the uncertainty of the technological environment. the more the satisfaction level decreases. The performance-oriented leadership style as well affects the satisfaction level more positively than the relationship-oriented leadership style. Based on the above results, the research provides the following implications when handling multiple concurrent projects. First, the satisfaction with the participation in the multiple concurrent projects needs to be enhanced at the team (group) level. Second. the manager of the project team, particularly the middle managers should have both a performance-oriented and relationship (task and human)-oriented attitude and exert a consolidated leadership in order to improve the satisfaction of team members with project participation and their performances. Third, as the uncertainty factor of the technological and organizational environment among the characteristics factors of the project has room for methodological improvement depending on one's effort even though there are some complications, we need to continuously prevent and control the risks resulting from the uncertainties of the technological and organizational environment of the project in order to enhance the satisfaction of project participation and project performances. Fourth, the performance (task)-oriented leadership is required when there is uncertainty in a technological environment while the relationship (human)-oriented leadership is required when there is uncertainty in an organizational environment. This research has the following limitations. First, this research intended to select one large-sized sample project and measure the project characteristics, the satisfaction of all the participants associated with project participation, and their performances. Therefore, it is inappropriate to generalize and apply the result of this result onto other numerous projects. Second, as this case study entailed a survey to measure the characteristics factors and performance of the project, since the result value was based on the perception of project team members, the data may have insufficient objectivity. Third, though this research targeted on all the project participants, some development teams did not provide sufficient data and questionnaires were collected from some specific development teams among the 23 development teams, causing a significant deviation in the response rate among the development teams. Therefore, we need to continuously conduct the follow-up researches making comparisons among the multiple projects, and centering on the characteristics factors of the project and its satisfaction level.