• 제어로봇시스템학회논문지
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• 제12권2호
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• pp.174-185
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• 2006

This paper describes a DR construction for land navigation and the sigma point based receding horizon Kalman FIR (SPRHKF) filter for DR/GPS hybrid navigation system. A simple DR construction is adopted to improve the performance both of the pure DR navigation and the DR/GSP hybrid navigation system. In order to overcome the flaws of the EKF, the SPKF is merged with the receding horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, and etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can be occurred in the MEMS inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS hybrid navigation system for land navigation seamlessly.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2001년도 추계학술발표회요약집
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• pp.84-84
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• 2001

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.734-740
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• 1987

Various kinds of predictive control design methods such as MAC(Model Algorithmic Control), DMC(Dynamic Matrix Control), MC(Extended Horizon Adaptive Control), GPC(Generalized Predictive Control), RHTC(Receding Horizon Tracking Controller), and PVC(PreView Controller) are surveyed and compared in this paper. In addition, stability properties of these control laws known to date are summarized and some new stability results are presented.

• Journal of Electrical Engineering and Technology
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• 제12권1호
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• pp.378-384
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• 2017

In this paper, an efficient short-time Fourier analysis method for the quasi-periodic signals is proposed via an optimal fixed-lag finite impulse response (FIR) smoother approach using a receding horizon scheme. In order to deal with time-varying Fourier coefficients (FCs) of quasi-periodic signals, a state space model including FCs as state variables is augmented with the variants of FCs. Through an optimal fixed-lag FIR smoother, FCs and their increments are estimated simultaneously and combined to produce final estimates. A lag size of the optimal fixed-lag FIR smoother is chosen to minimize the estimation error. Since the proposed estimation scheme carries out the correction process with the estimated variants of FCs, it is highly probable that the smaller estimation error is achieved compared with existing approaches not making use of such a process. It is shown through numerical simulation that the proposed scheme has better tracking ability for estimating time-varying FCs compared with existing ones.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.441-445
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• 1997

In this paper, we suggest a design scheme of receding horizon predictive control(RHPC) for boiler-turbine systems whose dynamics are given in nonlinear equations. RHPC is designed for linear state space models which are obtained at a nominal operating point of the boiler-turbine system. In this consideration, the boiler is operated in a sliding pressure mode, in which the reference value of drum pressure is changing according to the electrical power generation. The reference values of the system outputs are prefiltered before they are fed to the RHPC in order to compensate the linearization errors. Simulation results show that the proposed controller provides acceptable performances in both of the cases of 'steep and small changes' and 'slow and large changes' of power demand and yields the effect of modest coordination of conventional PID schemes such as boiler-following and turbine-following control.

• 한국산업정보학회논문지
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• 제24권5호
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• pp.115-120
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• 2019

본 논문에서는 이동 구간 입자 군집 최적화 (Receding horizon particle swarm optimization; RHPSO) 알고리즘 기반 다개체 로봇 편대 제어 알고리즘의 통계적 성능 분석 결과를 제시한다. 다개체 로봇의 편대 제어 문제는 로봇 간 충돌 회피를 고려할 경우, 구속 조건이 있는 비선형 최적화 문제로 정의될 수 있다. 일반적으로 구속 조건이 있는 비선형 최적화 문제는 최적해를 찾는데 많은 시간이 걸리는 문제점이 있다. 이동 구간 입자 군집 최적화 알고리즘은 로봇 편대 제어의 최적화 문제에 대한 준최적해를 빠르게 찾기 위해 제안된 알고리즘이다. 이동 구간 입자 군집 최적화 알고리즘은 알고리즘에 사용되는 후보해의 개수와 세대 수가 증가함에 따라 계산 복잡도가 증가한다. 따라서 최소의 후보해와 세대 수만으로 실시간 제어에 사용될 수 있는 준최적해를 찾는 것이 중요하다. 본 논문에서는 이동 구간 입자 군집 최적화 알고리즘의 후보해의 수와 세대 수에 따른 제어 오차를 비교하였다. 다양한 조건의 시뮬레이션 실험을 통해서 통계적으로 결과를 분석하고, 허용 가능한 편대 오차 범위 내에서 이동 구간 입자 군집 최적화 알고리즘의 최소 후보해의 수와 세대 수를 도출한다.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.7-12
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• 2000

A new speech enhancement algorithm for speech corrupted by slowly varying additive colored noise is suggested based on a state-space signal model. Due to the FIR structure and the unimportance of long-term past information, the receding horizon (RH) FIR filter known to be a best linear unbiased estimation (BLUE) filter is utilized in order to obtain noise-suppressed speech signal. As a special case of the colored noise problem, the suggested approach is generalized to perform the single blind signal separation of two speech signals. It is shown that the exact speech signal is obtained when an incoming speech signal is noise-free.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.633-635
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• 1999

We design to the temperature control system based on Receding horizon control(RHC) with a terminal output weighting for stochastic state model. This system has a large time delay, a nonlinear temperature characteristics, a perturbation, a disturbance, etc. In this paper, we show that RHC can easily be applied to the system to track the desired temperature, since it takes the receding horizon strategy for both controller and filter.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2001년도 추계학술발표회요약집
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• pp.83-83
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• 2001

• International Journal of Automotive Technology
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• 제5권2호
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• pp.77-88
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• 2004

Narrow commuter vehicles can address many congestion, parking and pollution issues associated with urban transportation. In making narrow vehicles safe, comfortable and acceptable to the public, active tilt control systems are likely to playa crucial role. This paper focuses on the development of an active direct tilt control system for a narrow vehicle that utilizes an actuator in the vehicle suspension. A simple PD controller can stabilize the tilt dynamics of the vehicle to any desired tilt angle. However, the challenges in the tilt control system design arise in determining the desired lean angle in real-time and in minimizing tilt actuator torque requirements. Minimizing torque requirements requires the tilting and turning of the vehicle to be synchronized as closely as possible. This paper explores two different control design approaches to meet these challenges. A Receding Horizon Controller (RHC) is first developed so as to systematically incorporate preview on road curvature and synchronize tilting with driver initiated turning. Second, a nonlinear control system that utilizes feedback linearization is developed and found to be effective in reducing torque. A close analysis of the complex feedback linearization controller provides insight into which terms are important for reducing actuator effort. This is used to reduce controller complexity and obtain a simple nonlinear controller that provides good performance.