• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.426-429
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• 1997

This paper proposes a robust H$_{\infty}$ tracking filter to improve the unacceptable target tracking performance for systems with parameter uncertainties. Also, we use here the input estimation approach to account for the possibility of maneuver. Simulation results show that the robust H$_{\infty}$ tracking filter which is proposed here to solve the systems with all system parameter uncertainties, has a good tracking performance for a maneuvering target tracking problem.m.

• 대한전기학회논문지:전력기술부문A
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• 제48권3호
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• pp.270-277
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• 1999

This paper deals with the maneuver detection and target tracking problem in uncertain parameter systems using a robust{{{{ { H}_{ } }}}} FIR filter to improve the unacceptable tracking performance due to the parametr uncertainty. The tracking filter used in the current paper is based on the robust{{{{ { H}_{ } }}}} FIR filter proposed by Kwon et al. [1,2] to estimate the state signal in uncertain systems with parameter uncertainty, and the basic scheme of the proposed method is the input estimation approach. Tracking performance of the maneuver detection and target tracking method proposed is compared with other techniques, Bogler allgorithm [4] and FIR tracking filter [2], via some simulations to examplify the good tracking performance of the proposed method over other techniques.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.759-762
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• 1996

In previous work Kwon and Yoo [5] have shown that the FIR tracking algorithm using the input estimation technique. However, it has not solved the problem of systems with parameter uncertainties. Therefore, in this paper we propose a new robust $H_{\infty}$ FIR tracking filter to solve the target tracking problems under systems with parameter uncertainties. Also, we use here the input estimation approach to account for the possibility of maneuver. Simulation results show that the robust $H_{\infty}$ FIR tracking filter proposed here still has good tracking performance for a maneuvering target tracking problem even under all system parameter uncertainties.

• Journal of Electrical Engineering and Technology
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• 제12권1호
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• pp.110-116
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• 2017

This paper proposed a new real-time parameter tracking algorithm. Unlike the convenience algorithms, the proposed real-time parameter tracking algorithm can estimate parameters through three-phase voltage and electric current without coordination transformation, and does not need information on magnetic flux. Therefore, it can estimate parameters regardless of the change according to operation point and cross-saturation effect. In addition, as the quasi-real-time parameter tracking technique can estimate parameters through the four fundamental arithmetic operations instead of complicated algorithms such as numerical value analysis technique and observer design, it can be applied to low-performance DSP. In this paper, a new real-time parameter tracking algorithm is derived from three phase equation. The validity and usefulness of the proposed inductance estimation technique is verified by simulation and experimental results.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 춘계학술대회
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• pp.101-103
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• 2016

최근 들어, 영상 추적(Visual Tracking)에서의 목표물을 sparse coefficient vector로 나타낼 수 있게 되면서, L1 minimization 방법을 이용한 영상처리 속도 향상이 필요하게 되었다. 더 나아가서, L1 minimization 방법은 영상 추적 과정에서 주로 발생하는 occlusion 문제를 해결하는 방법으로 많이 사용되고 있다. 다라서 본 논문에서는 영상 추적 과정에서 발생하는 occlusion 문제의 해결을 위해서 L1 minimization의 parameter를 분석하였다. L1 minimization에는 최소화 결과에 영향을 미치는 weighted parameter가 존재하며, 이들은 고정 상수나 목표물의 중간값, 평균값, 표준편차로 나타내어 진다. 실험 결과를 바탕으로 분석하였을 때, weighted parameter 중에서 평균값이 OPE(One Pass Evaluation)을 기반으로 한 success rate와 precision performance에서 좋은 결과를 갖는 것을 확인할 수 있었다.

• 조명전기설비학회논문지
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• 제28권5호
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• pp.31-38
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• 2014

Maximum power point tracking method is very important to enhance efficiency of photovoltaic system. Meanwhile a lot of research about MPPT has been studied and developed new one better than a method of the past. This paper deals with Perturb and Observation that are most commonly used. Tracking parameter changed PV voltage for PV current and it was simulated with P-SIM program. The P&O tracking method to use current for parameter lows ripple rate of output and enhances response rate of tracking. Through this study, it has been demonstrated that method using current for tracking parameter is effective.

• Smart Structures and Systems
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• 제9권4호
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• pp.373-392
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• 2012

Tracking control of systems with variable stiffness hysteresis using a gain-scheduled (GS) controller is developed in this paper. Variable stiffness hysteretic system is represented as quasi linear parameter dependent system with known bounds on parameters. Assuming that the parameters can be measured or estimated in real-time, a GS controller that ensures the performance and the stability of the closed-loop system over the entire range of parameter variation is designed. The proposed method is implemented on a spring-mass system which consists of a semi-active independently variable stiffness (SAIVS) device that exhibits hysteresis and precisely controllable stiffness change in real-time. The SAIVS system with variable stiffness hysteresis is represented as quasi linear parameter varying (LPV) system with two parameters: linear time-varying stiffness (parameter with slow variation rate) and stiffness of the friction-hysteresis (parameter with high variation rate). The proposed LPV-GS controller can accommodate both slow and fast varying parameter, which was not possible with the controllers proposed in the prior studies. Effectiveness of the proposed controller is demonstrated by comparing the results with a fixed robust $\mathcal{H}_{\infty}$ controller that assumes the parameter variation as an uncertainty. Superior performance of the LPV-GS over the robust $\mathcal{H}_{\infty}$ controller is demonstrated for varying stiffness hysteresis of SAIVS device and for different ranges of tracking displacements. The LPV-GS controller is capable of adapting to any parameter changes whereas the $\mathcal{H}_{\infty}$ controller is effective only when the system parameters are in the vicinity of the nominal plant parameters for which the controller is designed. The robust $\mathcal{H}_{\infty}$ controller becomes unstable under large parameter variations but the LPV-GS will ensure stability and guarantee the desired closed-loop performance.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2016년도 춘계학술대회
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• pp.305-307
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• 2016

The purpose of this paper is to determine the optimal values of the gain parameters used in the tracking module for a highly dynamic warship. The algorithm of the tracking module uses the ${\alpha}-{\beta}-{\gamma}$ filter to compute accurate estimates and update the state variables, that is, positions, velocity and acceleration. The filtering coefficients ${\alpha}$, ${\beta}$ and ${\gamma}$ are determined from set values of the damping parameter, ${\xi}$. Optimization is achieved by plotting a range of the damping parameter ${\xi}$ against the corresponding residual error and then selecting the best value of ${\xi}$ with the minimum residual error. Optimal values of the smoothing coefficients are subsequently computed from the selected damping parameter, ${\xi}$.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권3호
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• pp.282-293
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• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.188-188
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• 2000

The most important problem in target tracking can be said to be modeling the tracking system correctly. Although the simple linear dynamic equation for this model has used until now, the satisfactory performance could not be obtained owing to uncertainties of the real systems in the case of designing the filters baged on the dynamic equations. In this paper, we propose the extended robust Kalman filter (ERKF) which can be applied to the real target tracking system with the parameter uncertainties. A nonlinear dynamic equation with parameter uncertainties is used to express the uncertain system model mathematically, and a measurement equation is represented by a nonlinear equation to show data from the radar in a Cartesian coordinate frame. To solve the robust nonlinear filtering problem, we derive the extended robust Kalman filter equation using the Krein space approach and sum quadratic constraint. We show the proposed filter has better performance than the existing extended Kalman filter (EKF) via 3-dimensional target tracking example.