• 한국정밀공학회지
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• 제25권12호
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• pp.82-88
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• 2008

This paper describes an application of sliding mode control to an active magnetic bearing(AMB) system. A sliding mode control is robust to model uncertainties and external disturbances. To ensure the authority of sliding mode control, model parameter uncertainties caused from linearization of electro-magnetic attractive force are analyzed and a domain of parameter uncertainties in which reachability to sliding surface is guaranteed is derived. The validity of the analysis is illustrated along with some simulation examples.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 춘계학술대회 학술발표 논문집
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• pp.228-233
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• 1997

An efficient corner matching algorithm is developed to minimize the amount of calculation. To reduce the amount of calculation, all available information from a corner detector is used to make model. This information has uncertainties due to discretization noise and geometric distortion, and this is represented by fuzzy rule base which can represent and handle the uncertainties. Form fuzzy inference procedure, a matched segment list is extracted, and resulted segment list is used to calculate the transformation between object of model and scene. To reduce the false hypotheses, a vote and re-vote method is developed. Also an auto tuning scheme of the fuzzy rule base is developed to find out the uncertainties of features from recognized results automatically. To show the effectiveness of the developed algorithm, experiments are conducted for images of real electronic components.

• 제어로봇시스템학회논문지
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• 제12권11호
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• pp.1081-1087
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• 2006

Generally, biped walking is difficult to control because a biped robot is a nonlinear system with various uncertainties. In this paper, we propose a hybrid sliding-mode control method using a WNN uncertainty observer for stable walking of the 5-link biped robot with model uncertainties and the external disturbance. In our control system, the sliding mode control is used as main controller for the stable walking and a wavelet neural network(WNN) is used as an uncertainty observe. to estimate uncertainties of a biped robot model, and the error compensator is designed to compensate the reconstruction error of the WNN. The weights of WNN are trained by adaptation laws that are induced from the Lyapunov stability theorem. Finally, the effectiveness of the proposed control system is verified through computer simulations.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.269-282
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• 2007

This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network(SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The adaptation laws for all weights of the SRWNN are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Also, we prove that all signals in the closed-loop adaptive system are uniformly ultimately bounded. Through computer simulations of a nine-link biped robot with model uncertainties and external disturbances, we illustrate the effectiveness of the proposed control system.

• 대한전기학회논문지
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• 제45권2호
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• pp.273-282
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• 1996

This work is conceded with the estimation of output derivatives and their use for the design of robust controller for linear systems with system uncertainties due to modeling errors and disturbances. It is assumed that a nominal transfer function model and quantitative bounds for system uncertainties and known. The developed control schemes are shown to achieve regulation of the system output and ensures boundedness of the system states without imposing any structural conditions on system uncertainties and disturbances. Output derivative estimation is first conducted through restructuring of the plant in a specific parameterization. They are utilized for constructing robust nonlinear high-gain feedback controller of a SMC(Sliding Mode Control)type. The performances of the developed controller are evaluated and shown to be effective and useful through simulation study.

• 한국산학기술학회논문지
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• 제11권9호
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• pp.3304-3310
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• 2010

연구는 가격 및 수요 불확실성하의 강건한 (robust) 생산 및 수송 전략을 수립함으로써 수요 및 가격 불확실성이 존재하는 TFT-LCD 제조업 공급사슬망의 의사결정 문제를 해결하고자 한다. 품질로 구분되는 제품들의 생산, 재고 및 물류에 관한 의사결정을 조정하기 위해, 본 연구에서는 생산용량 제약, 해상/항공 수송 리드타임 및 용량 제약 등의 현실적인 제약조건들을 반영하는 확정적 모델을 정의하고, 시나리오 모델을 이용하여 수요 및 가격 불확실성을 함께 반영하는 확률적 혼합정수선형계획법모형들을 개발한다. 또한 개발된 확률적 모형들의 robust 솔루션을 도출하기 위한 휴리스틱 알고리즘을 제안한다. 그리고 이들 모형들로부터 산출된 솔루션의 성능을 실험을 통하여 다양한 시나리오 하에서 평가하도록 한다.

• 대한기계학회논문집A
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• 제29권9호
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• pp.1243-1252
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• 2005

A current trend of design methodologies is to make engineers objectify or automate the decision-making process. Numerical optimization is an example of such technologies. However, in numerical optimization, the uncertainties are uncontrollable to efficiently objectify or automate the process. To better manage these uncertainties, the Taguchi method, reliability-based optimization and robust optimization are being used. To obtain the target performance with the maximum robustness is the main functional requirement of a mechanical system. In this research, a design procedure for global robust optimization is developed based on the kriging and global optimization approaches. The DACE modeling, known as the one of Kriging interpolation, is introduced to obtain the surrogate approximation model of the function. Robustness is determined by the DACE model to reduce real function calculations. The simulated annealing algorithm of global optimization methods is adopted to determine the global robust design of a surrogated model. As the postprocess, the first order second-moment approximation method is applied to refine the robust optimum. The mathematical problems and the MEMS design problem are investigated to show the validity of the proposed method.

• 한국지반공학회논문집
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• 제35권2호
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• pp.29-36
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• 2019

본 연구에서는 필댐 사력부 전단파 속도 주상도 결정시 물성치 변동성에 의해 발생 가능한 불확실성을 평가하고, 평가된 불확실성이 반영된 국내 필댐 사력부를 위한 전단파 속도 주상도 모델을 제안하였다. 이를 위하여 평가된 불확실성을 바탕으로 국내 필댐 사력부에 존재 가능한 깊이-전단파 속도 곡선 400개를 결정하고, 이에 대한 통계분석을 통하여 깊이별 전단파 속도 상한과 하한 곡선을 결정하였다. 결정된 곡선을 바탕으로 Burger 모델 형태의 깊이별 전단파 속도 상한과 하한 주상도 모델을 결정하였다. 결정된 모델은 국내에서 많이 사용되고 있는 Sawada-Takahashi 모델과 비교하였다.

• Journal of Electrical Engineering and Technology
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• 제7권5호
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• pp.698-704
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• 2012

This paper proposes a new methodology for evaluating the probabilistic reliability based grid expansion planning of composite power system including the Wind Turbine Generators. The proposed model includes capacity limitations and uncertainties of the generators and transmission lines. It proposes to handle the uncertainties of system elements (generators, lines, transformers and wind resources of WTG, etc.) by a Composite power system Equivalent Load Duration Curve (CMELDC)-based model considering wind turbine generators (WTG). The model is derived from a nodal equivalent load duration curve based on an effective nodal load model including WTGs. Several scenarios are used to choose the optimal solution among various scenarios featuring new candidate lines. The characteristics and effectiveness of this simulation model are illustrated by case study using Jeju power system in South Korea.

• Journal of Electrical Engineering and Technology
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• 제10권6호
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• pp.2427-2433
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• 2015

This paper presents an observer-based robust controller for constant reference tracking of linear time invariant systems with polytopic model uncertainties. To this end, this paper not only designs a robust integral controller gain but also suggests how to determine the robust observer gain and the observer model used in the observer. Since the observer model selection is not obvious due to the polytopic uncertainties, particular attention needs to be paid to that. This paper computes the robust controller and observer gains first. Then, the observer model is selected in a way that the whole closedloop is stable and LMIs are used in the middle of choosing the gains and observer model. Simulation examples show that the proposed observer-based feedback control successfully achieves robust reference tracking.