• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.09a
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• pp.442-449
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• 2003

This paper presents a robust hybrid control system for seismic response control of a cable-stayed bridge. Because multiple control devices are operating, a hybrid control system could alleviate some of restirctions and limitations that exist when each system is acting alone. A LQG algorithm with on-off control scheme, H$_2$ and H$_{\infty}$ control algorithms with various frequency weighting filters are used to improve the controller robustness of the active control part in the hybrid control system. The numerital simulation results show that control performances of robust hybrid control systems are similar to those of the hybrid control system with LQG algorithm. Furthermore, it is verified that robust hybrid control systems are more robust than the hybrid control system with LQG algorithm and there are no signs of instabilities in the $\pm$5％ stiffness matrix perturbed system. Therefore, the proposed hybrid control system have a good robustness for stiffness matrix perturbation without loss of control effectiveness.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.306-312
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• 1996

The performance of the failure detection algorithm may be greatly influenced by the model uncertainty. It is very important to design a robust failure detection system to the model uncertainty. In this paper, a design procedure to generate failure detection algorithm is proposed. The design procedure suggested is based on the concept of the‘threshold selector［1］’. The H$\infty$ control algorithm is used to derive a threshold selector which is robust to the model uncertainty, The threshold selector derived can be used to develop a failure detection system together with the weighted cumulative sum algorithm［3］. Computer simulation study showed that the failure detection system designed for an ISA(Integrated Servo Actuator) system by using the proposed method is robust to the model uncertainty.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.2
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• pp.851-857
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• 2019

A new robust sliding mode control with disturbance and state observers has been proposed to control the nozzle angle of a water-jet system for a Unmanned Surface Vehicle (USV). As the water-jet system of a ship is subjected to direct disturbances owing to the exposure to the marine environment in water, it requires a robust control. A state observer and a disturbance observer are added to the water jet nozzle control system to achieve a robust control against disturbances. To verify the performance of the proposed algorithm, a test bed is constructed by a propulsion system used in the popular USV. This proposed algorithm has been evaluated by comparing to the existing algorithm through experiments. The results show that the performance of the proposed algorithm is better than that of the conventional PID or sliding mode controller when controlling the steering of the USV with disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2004-2009
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• 2003

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown load and the other uncertainties. The uncertainties are quadratically bounded for some positive definite matrix. Iterative method finding the Q weighting matrix is shown. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the result of the simulation shows that the proposed algorithm is very effective for a robust control of robotic systems.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.73.5-73
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• 2001

In this paper, we present a procedure to design the robust optimal supervisor which has the minimal cost in the sense of average for a given multiple-modelled discrete event system DES. In order to design the robust optimal supervisor, we extend the optimal supervisor design algorithm for a deterministic DES to the case of multiple-modelled DESs. In addition, using the proposed algorithm with modified costs of events and penalities of states, we can show whether a robust supervisor for a given multiple-modelled DES exists and design the minimally restricted robust supervisor.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.200-200
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• 2000

Highly nonlinear dynamical systems are easily identified using neural networks. When disturbances are included in the learning data set Int system modeling, modeling process will be poorly performed. Since the radial basis functions in the radial basis function network(RBFN) are centered at the points specified by the weights, RBF networks are robust for approximating the process including the narrow-band disturbances deviating significantly from the regular signals. To exclude(filter) these disturbances, a robust algorithm for system identification, based on the RBFN, is proposed. The performance of system identification excluding disturbances is investigated and compared with the one including disturbances.

• The KIPS Transactions:PartB
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• v.11B no.2
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• pp.199-206
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• 2004

This paper proposes a hybrid independent component analysis(ICA) of fixed-point(FP) algorithm and robust algorithm. The FP algorithm is applied for improving the analysis speed and performance, and the robust algorithm is applied for preventing performance degradations by means of very small kurtosis and temporal correlations between components. And the adaptive adaptation of temporal correlations has been proposed for solving limits of the conventional robust algorithm dependent on the maximum time delay. The proposed ICA has been applied to the problems for separating the 4-mixed signals of 500 samples and 10-mixed images of $512\times512$pixels, respectively. The experimental results show that the proposed ICA has a characteristics of adaptively adapting the maximum time delay, and has a superior separation performances(speed, rate) to conventional FP-ICA and hybrid ICA of heuristic correlation. Especially, the proposed ICA gives the larger degree of improvement as the problem size increases.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.8
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• pp.208-215
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• 1999

Using the orthogonal arrays and the occupant analysis software based on the multi-body dynamics , two interactive design algorithms are proposed to improve the initial design of the occupant protection systems. Algorithm 1 sequentially moves the narrow design space within the upper and the lower design limit. Algorithm 2 sequentially reduces the relatively wide design space. Each design algorithm is composed of two levels . The first level is to improve the characteristics of the crash performance considering the noise factors. In order to obtain the robust design, the second level reduces the variations the noise factors. In order to obtain the robust design, the second level reduces the variations due to the tolerance of the design variable. To utilize the algorithm 1, HIC(Head Injury Criterion) , 3 msec criterion value of the chest acceleration and the femur load decreased by 27.4%, 10.4% and 55.8%, respectively. To utilizer the algorithm 2 , the results decreased by 38.0%, 10.5% and 3.0% , respectively.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.623-626
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• 1998

NLMS algorithm is degraded by the ambient noises and the near-end speech signals. In this paper, a robust acoustic echo cancellation algorithm is proposed. To enhance the echo cancellation performance, the step size of the proposed algorithm is normalized by the sum o fthe power of the reference signals and the primary signals. as results of comparing the excess mean square errors, it is shown that the proosed algorithm can enhance the performance of cancelling the echo signals. Some experiments, which is used multimedia personal computer, are carried out. As results of experiments, the proposed algorithm shows better performance than conventional ones.

• Proceedings of the KSPS conference
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• 2003.05a
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• pp.137-140
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• 2003

In this paper, we propose a robust endpoint detection algorithm for speaker verification. Proposed algorithm uses energy and cepstral distance parameters, and it replaces the detected endpoints with endpoints of voiced speech, when the estimated signal-to-noise ratio (SNR) is low. Experimental results show that proposed algorithm is superior to energy-based endpoint detection algorithm.