• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.108-111
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• 1999

In this paper, we develope a composite control law for linear systems with norm-bounded time-varying parameter uncertainties, which consists of a basic linear robust control do-signed so as to generate a desired transient time-response for the worst-case parameter variation and a nonlinear modification term designed so as to reduce cautiousness of the linear robust control in an adaptive manner. The proposed controller is established such that the reduction of cautiousness of the linear robust control is well incorporated into the achievement of a good transient behavior.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.104-109
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• 2002

A new robust Kalman filter is designed for the linear discrete-time system with norm-bounded parametric uncertainties. Sum quadratic constraint, which describes the uncertainties of the system, is converted into an indefinite quadratic form to be minimized in indefinite inner product space. This minimization problem is solved by the new robust Kalman filter. Since the new filter is obtained by simply modifying the conventional Kalman filter, robust filtering scheme can be more readily designed using the proposed method in comparison with the existing robust Kalman filters. A numerical example demonstrates the robustness and the improvement of the proposed filter compared with the existing filters.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권4호
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• pp.213-219
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• 2000

In this paper, a controller design method is proposed for haptic interface considering transparency and robust stability. For this, a performance index for the transparency as performance measure is defined in the points of impedance matching and the optimal solution which is minimizing the performance index is obtained by solving H2 optimal problem. In haptic interface, the modeling uncertainties can be restricted to that of haptic device. To implement the robust stabilizing haptic controller to the uncertainties of haptic device, a robust stable condition using H$\infty$ norm from small gain theorem is proposed. To verify the effectiveness of the proposed haptic controller design scheme, numerical examples and experimental results are illustrated for virtual wall consisting of stiffness and damping factor.

• 한국정밀공학회지
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• 제17권1호
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• pp.138-144
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• 2000

Robot manipulators, which are nonlinear structures and have uncertain system parameters, have complex in dynamics when are operated in unknown environment. To compensate for estimate errors of the uncertain system parameters and to accomplish the desired trajectory tracking, nonlinear robust controllers are appropriate. However, when estimation errors or tracking errors are large, they require large input torques, which may not be satisfied due to torque limits of actuators. As a result, their stability can not be guaranteed. In this paper, a new robust control scheme is presented to solve stability problem and to achieve fast trajectory tracking in the presence of torque limits. By using fuzzy logic, new desired trajectories which can be reduced are generated based on the initial desired trajectory, and torques of the robust controller are regulated to not exceed torque limits. Numerical examples are shown to validate the proposed controller using an uncertain two degree-of-freedom underwater robot manipulator.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 추계 학술발표회논문집
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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.

• Advances in aircraft and spacecraft science
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• 제6권5호
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• pp.371-389
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• 2019

The implementation of a robust $H_{\infty}$ Control, which is numerically efficient for uncertain nonlinear dynamics, on longitudinal and lateral autopilots is realised for a quarter scale Piper J3-Cub model accepted as an unmanned aerial vehicle (UAV) under the condition of sensor noise and disturbance effects. The stability and control coefficients of the UAV are evaluated through XFLR5 software, which utilises a vortex lattice method at a predefined flight condition. After that, the longitudinal trim point is computed, and the linearization process is performed at this trim point. The "${\mu}$-Synthesis"-based robust $H_{\infty}$ control algorithm for roll, pitch and yaw displacement autopilots are developed for both longitudinal and lateral linearised nonlinear dynamics. Controller performances, closed-loop frequency responses, nominal and perturbed system responses are obtained under the conditions of disturbance and sensor noise. The simulation results indicate that the proposed control scheme achieves robust performance and guarantees stability under exogenous disturbance and measurement noise effects and model uncertainty.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권11호
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• pp.4483-4501
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• 2015

In this paper, we investigate a security transmission scheme at the physical layer for cooperative wireless relay networks in the presence of a passive eavesdropper. While the security scheme has been previously investigated with perfect channel state information(CSI) in the presence of a passive eavesdropper, this paper focuses on researching the robust cooperative relay beamforming mechanism for wireless relay networks which makes use of artificial noise (AN) to confuse the eavesdropper and increase its uncertainty about the source message. The transmit power used for AN is maximized to degrade the signal-to-interference-plus-noise-ratio (SINR) level at the eavesdropper, while satisfying the individual power constraint of each relay node and worst-case SINR constraint at the desired receiver under a bounded spherical region for the norm of the CSI error vector from the relays to the destination. Cooperative beamforming weight vector in the security scheme can be obtained by using S-Procedure and rank relaxation techniques. The benefit of the proposed scheme is showed in simulation results.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권12호
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• pp.6190-6213
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• 2019

For small-scale vector data, restrictions on watermark scheme capacity and robustness limit the use of copyright protection. A watermarking scheme based on robust geometric features and capacity maximization strategy that simultaneously improves capacity and robustness is presented in this paper. The distance ratio and angle of adjacent vertices are chosen as the watermark domain due to their resistance to vertex and geometric attacks. Regarding watermark embedding and extraction, a capacity-improved strategy based on quantization index modulation, which divides more intervals to carry sufficient watermark bits, is proposed. By considering the error tolerance of the vector map and the numerical accuracy, the optimization of the capacity-improved strategy is studied to maximize the embedded watermark bits for each vertex. The experimental results demonstrated that the map distortion caused by watermarks is small and much lower than the map tolerance. Additionally, the proposed scheme can embed a copyright image of 1024 bits into vector data of 150 vertices, which reaches capacity at approximately 14 bits/vertex, and shows prominent robustness against vertex and geometric attacks for small-scale vector data.

• 한국통신학회논문지
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• 제41권2호
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• pp.215-221
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• 2016

Data failure in wireless communications considerably affects the reconstruction quality of transmitted data. Traditionally, fascinating trials have been conducted to overcome the data failure intensifying reliable reconstruction of a media. But, none of these efforts neither effective, computationally inexpensive nor simply configurable to reduce the problems of transmitting media or images. In practice, it is necessary to maintain the quality of transmitted image without sacrificing any data, content, or information. So, to deal with dynamic events such as sensor node participation and departure, during transmission, an efficient scheme is important. For this reason, a new robust scheme has been presented in this paper to minimize the limitation of traditional wireless networking. This scheme uses Software-Defined Image Sensor Network (SD-ISN) to ensure scalability and dependability of the sensor network of handling data losses. Finally, a comparison of our proposed SD-ISN with conventional wireless networking has been presented in simulation to test the robustness and effectiveness of our proposed SD-ISN approach.

• 한국멀티미디어학회논문지
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• 제12권7호
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• pp.929-940
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• 2009

본 논문에서는 컨투어렛 변환 영역 상에서 저작권 보호, 인증 및 변형 검출 등을 위한 다중 목적의 워터마킹 기법을 제안한다. 컨투어렛 변환은 웨이블릿 변환보다 다방향성의 에지 및 부드러운 윤곽선 검출 성능이 보다 우수하여 제안한 방법에서는 4레벨 라플라시안 피라미드와 2 레벨 방향성 필터 뱅크를 이용한 컨투어렛 변환 영역 상에서 워터마크를 삽입한다. 먼저 제안한 방법의 첫 번째 단계에서는 저작권 보호를 위한 강인성 워터마킹 기법으로 워터마크 비트에 따라 원 패턴의 시퀀스를 생성하여, 이들 시퀀스 형태로 방향성 고주파 대역의 평균 계수 대역 내에 투영한다. 그리고 투영된 계수들의 분산 분포에 워터마크 비트를 각각 삽입한다. 그리고 두 번째 단계에서는 인증 및 변형 검출을 위한 준연약성 워터마킹 기법으로써, 최상위 레벨의 저주파 대역 내에 이진 워터마크 영상을 적응적 양자화기에 의하여 삽입한다. Checkmark 2.1를 이용한 평가 실험에서 제안한 방법이 기존의 방법에 비하여 강인성 및 비가시성이 보다 우수함을 확인하였다.