• International Journal of Aeronautical and Space Sciences
• /
• v.10 no.1
• /
• pp.58-66
• /
• 2009

Formation controller for multiple spacecrafts is designed based on a decentralized approach. The objective of the proposed controller is to make each spacecraft fly to the desired waypoints, while keeping the formation shape of multiple spacecrafts. To design the decentralized formation controller, the output feedback linearization technique using error functions for goal convergence and formation keeping is utilized for spacecraft dynamics. The primary contribution of this paper is to proposed optimal controller for formation flying based on the decentralized approach. To design the optimal controller, eigenvalue assignment technique is used. To verify the effectiveness of the proposed controller, numerical simulations are performed for three-dimensional waypoint-passing missions of multiple spacecrafts.

• 전기의세계
• /
• v.26 no.6
• /
• pp.48-54
• /
• 1977

The object of this work is to study the optimal control strategy of constant speed characteristics for a D.C control motor under influence of disturbance. In the course of the analysis, the linearization and time invariance schemes on motor dynamics are presumed throughout under certain prescribed conditions and the performance measure for optimality is assumed to be quadratic in state and the control effort, with the initial and final time specified. When the motor speed is deviated from a stationary operating point by any external disturbance, the optimal continuous feedback control law is investigated by the application of the calculus of variation and realizability of the required control meachanism is suggested. Finally, the comparative study of the speed reasponses of the motor, with and without the optimal control effort is also presented to confirm the obtained results.

• Journal of the Earthquake Engineering Society of Korea
• /
• v.14 no.2
• /
• pp.1-13
• /
• 2010

This paper proposes an optimal design method for the nonlinear seismic isolated bridge. The probabilities of failure at the pier and the seismic isolator are considered as objective functions for optimal design, and a multi-objective optimization technique is employed to efficiently explore a set of multiple solutions optimizing mutually-conflicting objective functions at the same time. In addition, a stochastic linearization method is incorporated into the multi-objective optimization framework in order to effectively estimate the stochastic responses of the bridge without performing numerous nonlinear time history analyses during the optimization process. As a numerical example to demonstrate the efficiency of the proposed method, the Nam-Han river bridge is taken into account, and the proposed method and the existing life-cycle-cost based design method are both applied for the purpose of comparing their seismic performances. The comparative results demonstrate that the proposed method not only shows better seismic performance but also is more economical than the existing cost-based design method. The proposed method is also proven to guarantee improved performance under variations in seismic intensity, in bandwidth and in the predominant frequency of the seismic event.

• Proceedings of the SAREK Conference
• /
• 2008.06a
• /
• pp.603-608
• /
• 2008

A simple equation to find a optimum speed of desiccant rotor is presented in this theoretical study. Usually the determination of optimum speed of desiccant rotor requires tedious and lengthy procedures by solving governing differential equations with many complicated parameters. The determining equation of optimal rotating speed is derivated from governing differential equations with three linearization assumptions, which simplify temperature profile linear along the desiccant rotor depth, psychrometric chart within a proper range, and relative humidity-sorption capacity relation. This study shows that the dominant parameters of optimal rotating speed of desiccant rotor are NTU, flow velocity, desiccant rotor depth, and temperature different between dehumidification and regeneration. The comparison shows the good agreement between complicated calculation results and simple theoretical equation prediction.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.93-98
• /
• 2001

This paper studies on the design of an ILQ(Inverse Linear Quadratic optimal control) looper control system for hot strip mills. The looper which is placed between each stand plays an important role in controlling strip width by regulating strip tension variation generated from the velocity difference of main work rolls. The mathematical model for looper is firstly obtained by Taylor's linearization of nonlinear differential equations, where it is given as a linear and time invariant state-space equation. Secondly, a looper servo controller is designed by ILQ control algorithm, which is an inverse problem of LQ(Linear Quadratic optimal control) control. By tunning control gain arbitration parameters and time constants, it is shown that the ILQ looper servo controller has the performance that makes well to follow desired trajectories of both strip tension and looper angle.

• Steel and Composite Structures
• /
• v.47 no.4
• /
• pp.513-521
• /
• 2023

The goal of this work is to create a new and improved GWO (Grey Wolf Optimizer), the so-called Robot GWO (RGWO), for dynamic and static target tracking involving multiple robots in unknown environmental conditions. From applying ourselves with the Gray Wolf Optimization Algorithm (GWO) and how it works, as the name suggests, it is a nature-inspired metaheuristic based on the behavior of wolf packs. Like other nature-inspired metaheuristics such as genetic algorithms and firefly algorithms, we explore the search space to find the optimal solution. The results also show that the improved optimal control method can provide superior power characteristics even when operating conditions and design parameters are changed.

• Journal of Yeungnam Medical Science
• /
• v.16 no.2
• /
• pp.237-243
• /
• 1999

We conducted this study to find the optimal correction factor(${\alpha}$) of Lassen's linearization algorithm which has been applied for correction of flow-limited uptake at a high flow range in $^{99m}Tc$ d,l-hexamethylpropy leneamine oxime(HMPAO) and $^{99m}Tc$ ethyl cysteinate dimer(ECD). Ten patients with chronic cerebral infarction were involved in this study. We obtained the corrected $^{99m}Tc$ HMPAO and $^{99m}Tc$-ECD brain SPECT(single photon emission computed tomography) using the algorithm with ${\alpha}$ values that varied from 0.1 to 10 and compared the results with regional cerebral blood flow determined by positron emission tomography (PET-rCBF). The multi-modal volume registration by maximization of mutual information was used for matching between PET-rCBF and SPECT images. The highest correlation coefficient between $^{99m}Tc$-HMPAO and $^{99m}Tc$-ECD brain uptake and PET-rCBF was revealed at ${\alpha}$ 1.4 and 2.1, respectively. We concluded that the ${\alpha}$ values of Lassen's linearization algorithm for $^{99m}Tc$-HMPAO and $^{99m}Tc$-ECD brain SPECT images were 1.4 and 2.1, respectively to indicate cerebral blood flow with comparison of PET-rCBF.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.9
• /
• pp.807-810
• /
• 2015

In this paper, a finite impulse response(FIR) fixed-lag smoother is proposed for discrete-time nonlinear systems. If the actual state trajectory is sufficiently close to the nominal state trajectory, the nonlinear system model can be divided into two parts: The error-state model and the nominal model. The error state can be estimated by adapting the optimal time-varying FIR smoother to the error-state model, and the nominal state can be obtained directly from the nominal trajectory model. Moreover, in order to obtain more robust estimates, the linearization errors are considered as a linear function of the estimation errors. Since the proposed estimator has an FIR structure, the proposed smoother can be expected to have better estimation performance than the IIR-structured estimators in terms of robustness and fast convergence. Additionally the proposed method can give a more general solution than the optimal FIR filtering approach, since the optimal FIR smoother is reduced to the optimal FIR filter by setting the fixed-lag size as zero. To illustrate the performance of the proposed method, simulation results are presented by comparing the method with an optimal FIR filtering approach and linearized Kalman filter.

• Computational Structural Engineering
• /
• v.1 no.1
• /
• pp.87-94
• /
• 1988

The linerization method as one of the recursive quadratic programming method is applied for the optimal design of a large-scale structure supported by Pshenichny's proof of global convergence of the algorithm and convergence rate estimates. The linearization method transforms all constants of the design problem into an equivalent linearized constraint and employs the active-set strategy. This results in substantial computational savings by reducing the number of sate and adjoint to be solved at every design iteration. The illustrative example of plates with beams supported by columns is the typical one of a large-scale structure to give successful optimum solutions with satisfactory convergence criteria. Hopefully, the method may be applicable to all classes of optimization problems.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.4
• /
• pp.120-131
• /
• 2004

In this paper, we propose the method of a motion planning generation in which the movement of the 3-link leg subsystem is constrained to a slider-link and a singular posture can be easily avoided. The proposed method is the jumping control moving in vertical direction which mimics a cat's behavior. That is, it is jumping toward wall and kicking it to get a higher-place. Considering the movement from the point of constraint mechanical system, the robotic system which realizes the motion changes its configuration according to the position and it has several phases such as; ⅰ) an one-leg phase, ⅱ) in an air-phase. In other words, the system is under nonholonomic constraint due to the reservation of its momentum. Especially, in an air-phase, we will use a control method using state transformation and linearization in order to control the landing posture. Also, an iterative learning control algorithm is applied in order to improve the robustness of the control. The simulation results for jumping control will illustrate the effectiveness of the proposed control method.