• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.515-515
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• 2000

The performance of dynamic path following of a wheeled mobile robot with nonholonomic constraints has some drawbacks such as the influence of the initial state. The drawbacks can be overcome by the temporary path generator and modified output. But with the previous input-output linearization method using them, it is difficult to tune the gains, and if there are some modeling errors, the low gain can make the system unstable. And if a high gain is used to overcome the model uncertainties, the control inputs are apt to be large so the system can be unstable. In this paper. an H$_{\infty}$ controller is designed to guarantee robustness to model parameter uncertainties and to consider the magnitude of control inputs. And the solution to Hamilton Jacobi (HJ) inequality, which is essential to H$_{\infty}$ control design, is obtained by nonlinear matrix inequality (NLMI).

• International Journal of Control, Automation, and Systems
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• 제2권1호
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• pp.1-14
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• 2004

This paper surveys some existing direct adaptive feedback control schemes for linear time-invariant systems with actuator failures characterized by the failure pattern that some inputs are stuck at some unknown fixed or varying values at unknown time instants, and applications of those schemes to aircraft flight control system models. Controller structures, plant-model matching conditions, and adaptive laws to update controller parameters are investigated for the following cases for continuous-time systems: state tracking using state feed-back, output tracking using state feedback, and output tracking using output feedback. In addition, a discrete-time output tracking design using output feedback is presented. Robustness of this design with respect to unmodeled dynamics and disturbances is addressed using a modified robust adaptive law.

• Journal of Information Processing Systems
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• 제18권6호
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• pp.755-762
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• 2022

The existing electrical engineering design method and the dynamic objective function in the application process of automatic control system fail to meet the unbounded condition, which affects the control tracking accuracy. In order to improve the tracking control accuracy, this paper studies the electrical engineering design method based on neural network and the application of automatic control system. This paper analyzes the structure and working mechanism of electrical engineering automation control system by an automation control model with main control objectives. Following the analysis, an optimal solution of controllability design and fault-tolerant control is figured out. The automatic control power coefficient is distributed based on an ideal control effect of system. According to the distribution results, an automatic control algorithm is based on neural network for accurate control. The experimental results show that the electrical automation control method based on neural network can significantly reduce the control following error to 3.62%, improve the accuracy of the electrical automation tracking control, thus meeting the actual production needs of electrical engineering automation control system.

• 한국산업정보학회논문지
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• 제4권4호
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• pp.137-142
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• 1999

본 논문은 리눅스 서버 환경에서 여러 분야의 업무를 운영하려고 할 때에 발생되는 보안 문제를 해결하기 위해서 역할기반 접근제어(Role-Based Access Control : RBAC) 기법을 이용하여, 리눅스 환경에서 운영 가능한 RBAC＿Linux 보안 시스템을 설계하였다. 본 논문에서 RBAC_Linux는 RBAC 기법을 리눅스 환경에 적용하여 설계되었으며, 적용한 RBAC 모델로는 Sandhu 등이 제안한 RBAC96모델을 이용한다. 따라서 리눅스 서버 시스템에 설계 제안된 RBAC_Linux 보안 시스템을 이용하면 서버의 소스코드를 수정없이 구현 가능하여, 이식성이 높으며, 보안 관리가 단순하고 용이하다는 장점을 갖는다.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.327-338
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• 2008

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with a model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of different actuator faults are accounted for through different performance reduced (degraded) reference models. The degraded steady-state performances are governed by the reduced levels of command input. The reconfigurable controller is designed on-line automatically in an explicit model reference control framework so that the dynamics of the closed-loop system follow that of the performance reduced reference model under each fault condition. The reduced command input level is determined to prevent potential actuator saturation. The proposed method has been evaluated and analyzed using an aircraft example against actuator faults subject to constraints on the magnitude and slew-rate of actuators.

• 한국정보통신학회논문지
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• 제26권9호
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• pp.1412-1422
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• 2022

무기체계 간 상호운용성의 중요성이 점점 커지고 있다. 체계 간 상호운용성은 주로 자료 연동을 통해 구현된다. 그런데 체계 간 정보 이질성 해소 비용으로 인해 전군 차원의 자료 연동 효율과 품질이 저하되고 있다. 다른 선진국들은 정보교환모델을 공통 적용함으로써 자료 연동 구현의 효율과 품질을 높이고 있지만 한국군은 아직 그에 대한 중요성과 필요성을 충분히 인식하지 못하고 있다. 이 연구는 한국 지휘통제 정보교환모델(KC2IEM)의 개발과 적용의 필요성을 설명하고, 그에 필요한 개발 방법론을 제시하고 프로토타입 모델 개발을 통해 검증하고 개선한다. 정보교환모델의 완성은 학술연구 수준에서는 제한되며, 이 연구는 후속 연구 및 개발을 위한 계기와 발판으로서 기여한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.272-275
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• 1992

A novel fault diagnosis method based on likelihood decomposition is proposed for linear stochastic systems described by autoregressive (AR) model. Assuming that at some time instant .tau. the fault of one of the following two types is occurs: innovation fault (actuator fault); and observation fault (sensor fault), the log-likelihood function is decomposed into two components based on the observations before and after .tau., respectively, Then, the type of the fault is determined by comparing the log-likelihoods corresponding two types of faults. Numerical examples demonstrate the usefulness of the proposed diagnosis method.

• 한국자동차공학회논문집
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• 제5권3호
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• pp.76-85
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• 1997

The understeer characteristics of four wheel steering system(4WS system) in a high speed region have a negative effect upon the yaw velocity, leading to a decrease in the handling ability of vehicle. As a result, even if the side slip angle of vehicle can be kept up a minimum, a driver must compensate a decrease in yaw velocity by increasing the steering wheel angle in order to track the desired vehicle path. In this study, to keep the side slip angle of vehicle at zero and achieve a suitable yaw velocity in vehicle motion, a full active 4WS system(FA 4WS system) with actively steerable front and rear wheels is presented based on a nonlinear vehicle model and a model following control of yaw velocity. And the analysis results show the fat that, besides the excellent stability of vehicle, the FA 4WS system is able to realize better handling performance of vehicle than the previous 4WS systems in the high speed region.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.289-295
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• 2002

In this paper, a linear matrix inequality(LMI)-based robust control method, which combines model predictive control(MPC) with the feedback linearization(FL), is presented for constrained nonlinear systems with parameter uncertainty. The design procedures consist of the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL into constraint on new input of linearized system, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.

• Nuclear Engineering and Technology
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• 제17권4호
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• pp.247-255
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• 1985

본 논문은 가변구조모델추종제어(VSMFC)계 설계의 새로운 방법을 고찰한 것이다. 설계 개념은 가변구조계(VSS)와 슬라이드모드 이론을 사용하여 비선형 시변다변수계가 파라미터 변동이 있을지라도 모델추종을 정확히 하게끔 제어측이 가변구조를 갖게 하는 것이다. 본 논문의 방법을 실제 물리계에 적용할 때 컴퓨터 계산시간의 감소와 파라미터변동에 무관한 동적응답을 기대할 수 있다. 이론의 유효성을 밝히기 위해 VSMPC를 1000MWe의 불등경수형 원자로(BWE)에 적용하였다. 즉 원자로의 출력요구가 정격출력의 85∼90% 범위에서 변할 때 부하추종출력제어가 원활히 이루어지는가를 컴퓨터 시뮬레이션하였다. 12개의 비선형미분방정식으로 동특성이 주어지는 원자로에서 6차계 선형모델을 85% 정격치에서 구하고 여러범위에 걸쳐서 부하변동이 있을 때 파라미터변동을 극복하면서도 출력제어를 원활히 하는가를 연구하였다.