• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.455-458
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• 2003

An optimal control approach to robust 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 to find the matrix is shown. Simulations arc made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.176-182
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• 2003

An optimal control approach to robust 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 to find the matrix is shown. Simulations are made for a weight-lifting operation of a two-link manipulator and the robust control performance of robotic systems by the proposed algorithm is remarkable.

• International Journal of Quality Innovation
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• v.8 no.3
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• pp.188-197
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• 2007

In this work, an efficient and easy statistical method to find an equivalent discrete distribution for a continuous random variable (r.v.) is proposed. The proposed method is illustrated by applying it to the treatment of the anthropometrical noise factors in the context of Robust Ergonomic Design.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.856-859
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• 1997

In this paper we treat the application of fault detection method in DC motor having both model mismatch and noise problems. A fault detection method presented by Kwon et al. (1994) for SISO systems has been here experimented. The model mismatch includes here linearization error as well as undermodelling. Comparisons are made with the real plant, DC motor. The experimental result of robust fault detection method is shown to have good performance via with the alternative fault detection method which do not account noise.

• Journal of the Korean Data and Information Science Society
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• v.7 no.2
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• pp.203-210
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• 1996

A linear neural unit with a modified anti-Hebbian learning rule has been shown to be able to optimally fit curves, surfaces, and hypersurfaces by adaptively extracting the minor component of the input data set. In this paper, we study how to use the robust version of this neural fitting method for linear regression analysis. Furthermore, we compare this method with other methods when data set is contaminated by outliers.

• Journal of the Korean Data and Information Science Society
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• v.15 no.2
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• pp.441-447
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• 2004

Li and Mak (1994) developed a test statistic for detecting the non-linearity and the heteroscedasticity of the time series data. But it is well known that the test statistic may be very sensitive in case of heavy-tailed distributions of the errors. Jiang et al.(2001) suggested the robust method for ARCH models but the calculation procedures for the estimation are very complicated. We suggested the robust method based on Huber's function and our method works quite well rater than the Li and Mak(1994). Also our method is relatively easy to calculate the test statistic.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.619-624
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• 2011

This paper presents a controller design method for a robust control problem with multiple constraints using genetic algorithms and LMI design method. A robust $H_{\infty}$ constraint with loop shaping and pole placement is used to address disturbance attenuation with error limits and desired transient specifications, in spite of the plant uncertainties and disturbances. In addition, a loop gain constraint is considered so as not to enlarge the loop gain unnecessarily. The robust $H_{\infty}$ constraint and pole placement constraint can be expressed in terms of two matrix inequalities and the loop gain constraint can be considered as an objective function so that genetic algorithms can be applied. Accordingly, a robust controller can be obtained by integrating genetic algorithms with LMI approach. The proposed controller design method is applied to a track-following system of an optical disk drive and is evaluated through simulation results.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.2
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• pp.55-63
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• 2014

Fractures and wrinkles are two major defects frequently found in the sheet metal forming process. The process has several noise factors that cannot be ignored when determining the optimal process conditions. Therefore, without any countermeasures against noise, attempts to reduce defects through optimal design methods have often led to failure. In this study, a new and robust design methodology that can reduce the possibility of formation of fractures and wrinkles is presented using decision-making theory. A two-attribute value function is presented to form the design metric for the sheet metal forming process. A modified complex method is adopted to isolate the optimal robust design variables. One of the major limitations of the traditional robust design methodology, which is based on an orthogonal array experiment, is that the values of the optimal design variables have to coincide with one of the experimental levels. As this restriction is eliminated in the complex method, a better solution can be expected. The procedure of the proposed method is illustrated through a robust design of the sheet metal forming process of a side member of an automobile body.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.836-840
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• 2006

Design optimization of layered plates bonding process is conducted to achieve high product quality by considering uncertainties in a manufacturing process. During the cooling process of the sequential sub-processes, different thermal expansion coefficients lead to residual stress and displacement. thus resulting in defects on the surface of the adherent. So robust process optimization is performed to minimize the residual stress mean and variation of the assembly while constraining the distortion as well as the instantaneous maximum stress to the allowable limits. In robust process optimization, the dimension reduction (DR) method is employed to quantify both reliability and quality of the layered plate bonding. Using this method. the average and standard deviation is estimated. Response surface is constructed using the statistical data obtained by the DRM for robust objectives and constraints. from which the optimum solution is obtained.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.3
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• pp.466-471
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• 2012

In this paper, we consider the problem of a robust passive filtering with low-order for discrete-time singular systems with polytopic uncertainties. A BRL(bounded real lemma) for robust passivity with a dissipativity of discrete-time uncertain singular systems is derived. A low-order robust passive filter design method is proposed by new reduced-order method and LMI(linear matrix inequality) technique on the basis of the obtained BRL. Finally, illustrative examples are presented to show the applicability of the proposed method.