• 대한수학회논문집
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• 제33권3호
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• pp.919-928
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• 2018

In this paper, we consider the admissible control problem for the linear systems by using the solution of the Hausdorff moment problem. In addition, we consider the admissible control problem for SIR epidemic model.

• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.216-224
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• 2004

In this paper we address reliable output feedback control problem for a class of linear systems with actuator/sensor failures. An output feedback control method is proposed which stabilizes the plant and guarantees $H_\inftyt$-norm constraint against all admissible actuator/sensor failures. The controller can be obtainer by solving some LMls that cover all failure cases. Effectiveness of this controller is validated via a numerical example. This paper addresses reliable output feedback control problem for a class of linear systems with actuator/sensor failures. An output feedback control method is proposed which stabilizes the plant and guarantees $H_\inftyt$-norm constraint against all admissible actuator/sensor failures. The controller can be obtained by solving some LMls that cover all failure cases. Effectiveness of this controller is validated via numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1034-1039
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• 1991

A robot motion planning algorithm for time-varying obstacle avoidance is proposed. The robot motion planning problem is replaced with the optimization problem by using the distance function with the divided configuration space. To divide the configuration space, the polar coordinate system is used. For each divided configuration space, the admissible region where the robot can reach without collisions is obtained using the distance function. For an object moving in a plane, the admissible region is described by linear constraints on the polar coordinate system. A numerical algorithm that solves the optimization problem is shown and the computer simulation is carried out.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.565-569
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• 1993

In this paper, a specified number of actuators are selected from a given set of admissible actuators. The selected set of actuators is likely to use minimum control energy while required output variance constraints are guaranteed to be satisfied. The actuator selection procedure is an iterative algorithm composed of two parts; an output variance constrained control and an input variance constrained control algorithm. The idea behind this algorithm is that the solution to the first control problem provides the necessary weighting matrix in the objective function of the second optimization problem, and the sensitivity information from the second problem is utilized to delete one actuator. For variance constrained control problems, by considering a dual version of each control problem an efficient algorithm is provided, whose convergence properties turn out to be better than an existing algorithm. Numerical examples with a simple beam are given for both the input/output variance constrained control problem and the actuator selection problem.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.310-316
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• 1986

The problem of finding an allowable object trajectory for a cooperating two-robot system is investigated. The method proposed in this paper is based on reformulating the problem as a nonlinear optimization problem with equality constants in terms of the joint variables. The optimization problem is then solved numerically on a computer. The solution automatically gives the corresponding joint variable trajectories as well, thus eliminating the need for solving the inverse kinematic problem. The method has been succesfully applied to an experimental system.

• 대한수학회지
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• 제36권2호
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• pp.317-332
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• 1999

In this paper we deal with the optimal control problem for the semilinear functional differential equations with unbounded delays. We will also establish the regularity for solutions of the given system. By using the penalty function method we derive the optimal conditions for optimality of an admissible state-control pairs.

• Journal of applied mathematics & informatics
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• 제9권2호
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• pp.717-730
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• 2002

In this paper we use measure theory to solve a wide range of the nonlinear programming problems. First, we transform a nonlinear programming problem to a classical optimal control problem with no restriction on states and controls. The new problem is modified into one consisting of the minimization of a special linear functional over a set of Radon measures; then we obtain an optimal measure corresponding to functional problem which is then approximated by a finite combination of atomic measures and the problem converted approximately to a finite-dimensional linear programming. Then by the solution of the linear programming problem we obtain the approximate optimal control and then, by the solution of the latter problem we obtain an approximate solution for the original problem. Furthermore, we obtain the path from the initial point to the admissible solution.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.92-94
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• 2007

This paper considers an optimal control problem for a remote control to an electrical drive system with a DC motor. Since it is a linear control system with time-delay subject to unknown but bounded disturbance, we construct a worst-case feedback control policy. This policy can guarantee that, for all admissible uncertain disturbances, the real system state should be in a prescribed neighborhood of a desired value, and the cost functional takes the best guarantee value. The worst-case feedback control policy is allowed to be corrected at one correction point between the initial to the final time, which is equivalent to solving a 1-level min-max problem. Since the min-max problem at the stage does not yield a simple analytical solution, we consider an approximate control policy, which is equivalent and can be solved explicitly m the numerical experiments.

• International Journal of Control, Automation, and Systems
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• 제6권6호
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• pp.845-858
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• 2008

In this paper, we consider a terminal, linear control system with delay, subject to unknown but bounded disturbances. For this system, we consider the problem of constructing a worst-case optimal feedback control policy, which can be corrected at fixed, intermediate time instants. The policy should guarantee that for all admissible uncertainties the system states are in prescribed neighborhoods of predefined system states, at all fixed, intermediate time instants, and in the neighborhood of a given state at a terminal time instant, and the value of the cost function is the best guaranteed value. Simple explicit rules(which can be easily implemented on-line) for constructing the optimal control policy in the original control problem are derived.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.68.5-68
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• 2001

This paper investigates the problem of linear parameter-dependent output feedback controllers design for interconnected linear parameter-varying(LPV) plant. By using a parameter-independent common Lyapunov function, sucient conditions for solving the problems are established, which allow us to design linear parameter dependent decentralized controllers in terms of scaled H-infinite control problems for related linear systems without interconnections. The solvability conditions are expressed in terms of finite-dimensional linear matrix inequalities(LMI´s) evaluated at the extreme points of the admissible parameter set.