• Journal of Power System Engineering
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• v.12 no.6
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• pp.42-49
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• 2008

The most important job in the container terminal area is to handle the cargo effectively in the limited time. To achieve this object, many strategies have been introduced and applied to. If we consider the automated container terminal, it is necessary that the cargo handling equipments are equipped with more intelligent control systems. From the middle of the 1990's, an automated rail-mounted gantry crane(RMGC) and rubber-tired gantry crane(RTG) have been developed and widely used to handle containers in the yards. Recently, in these cranes, the many equipments like CCD cameras and sensors are mounted to cope with the automated terminal environment. In this paper, we try to support the development of more intelligent automated cranes which make the cargo handling be performed effectively in the yards. For this plant, the modelling, tracking control, anti-sway system design, skew motion suppressing and complicated motion control and suppressing problems must be considered. Especially, in this paper, the system modelling and tracking control approach are discussed. And, we design the tracking control system incorporating an observer based on the 2DOF servo system design approach to obtain the desired state informations. In the case of observer design, a weighted $H_{\infty}$ error bound approach for a state estimator is considered. Based on an algebraic Riccati equation(inequality) approach, a necessary and sufficient condition for the existence of a full-order estimator which satisfies the weighted $H_{\infty}$ error bound is introduced. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which gives an optimized solution and observer gain. Based on this result, we apply it to the tracking control system design for the transfer crane.

• Proceedings of the Korea Water Resources Association Conference
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• 2005.09a
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• pp.542-543
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• 2005

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2008.10a
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• pp.224-225
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.765-769
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• 1987

Some of the initial steps necessary for the application of Kalman filter will be discussed in general. The application of filtering for tracking system will then be illustrated by simple examples. Practical implementation problems as well as hardware synthesis difficulties, are discussed.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.645-645
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• 1989

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.730-735
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• 1992

In this study, heavy loads driving servo control systems, which are composed of electro-hydraulic servo-valve, hydraulic motor/cylinder, gear box and link mechanism, are investigated for implemention. To predict the performances of the systems, modelling and simulation with some nonlinearities are carried out. Simulation results are compared with experimental results.

• Proceedings of the Korean Society of Coastal and Ocean Engineers Conference
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• 2009.10a
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• pp.168-171
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• 2009

• Proceedings of the Korean Society of Coastal and Ocean Engineers Conference
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• 2009.10a
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• pp.25-28
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• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.05a
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• pp.94-95
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.653-657
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• 1990

Since linearized equations of notion have much modelling errors, robust controller for disturbances and noises Is necessary for autopilot. In this paper, notion equations for underwater vehicle with six degree-of-freedom are derived and linearized. And robust autopilot for this system is designed by using LQG/LTR methodology.