• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1464-1468
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• 1997

We propose a decentralized state estimation method in the multisensor state estimation problem. The proposed method bounds teh maximum energy gain from uknown external disturbances to the estimation errors in the suboptimal case. And we formulate aternative H/sip .inf./ filter gain equatiions with teh idea that the suboptimal H.$^{\infty}$ filter is the special form of Kalman filter filter whose state equations are defined in indefinite inner product spaces. Using alternative filter gain equations we design the decentralized $H^{\infty}$ state estimator which is composed of local filters and central fusion filter that are suboptimal in the $H^{\infty}$ sense. In addition, the proposed update equations between global and local data can reduce unnecessary calculation burden efficently.y.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.218-223
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• 2012

Maintenance and improvement of the graph connectivity is very important for decentralized multi-agent systems. Although the CBBA (Consensus-Based Bundle Algorithm) guarantees suboptimal performance and bounded convergence time, it is only valid for connected graphs. In this study, we apply a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimation, we design a decentralized gradient controller to maintain the graph connectivity while agents are traveling to perform assigned tasks. Simulation result for fully-actuated first-order agents that move in a 2-D plane are presented.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.414-417
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• 1997

We propose a decentralized $H_{\infty}$ state estimation method in the multisensor state estimation problem. The proposed method bounds the maximum energy gain from unknown external disturbances to the estimation errors in the suboptimal case. And we formulate the decentralized state estimation method in the general case of different global and local models using alternative gain equation of the $H_{\infty}$ state estimator which can calculate global state estimates from the the linear combination of local state estimates. In addition, the proposed update equation between global and local Riccati solutions can reduce unnecessary calculation burden efficiently.

• 대한전기학회논문지
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• 제37권2호
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• pp.122-129
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• 1988

A design method of decentralized state observer for large scale interconnected systems is proposed by the use of interconnection rejection approach and interconnection modelling technique. The proposed design method is developed based on the interconnection partitioning. Therefore partitioning conditions are suggested. And the conditions for observer pole assignment and observer parameter determination procedures are described for possible interconnection patterns. The decentralized state observer gives good estimates without any information on the interconnection variables and estimations. In addition, a numerical example is given to explain the design procedures and to show the estimation performance of the decentralized observer.

• Bulletin of the Korean Chemical Society
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• 제24권3호
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• pp.279-284
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• 2003

The One Pass Method (OPM) previously presented for the identification of single input single output systems is used to estimate the parameters of a Decentralized Control System (DCS). The OPM is a linear and therefore a simple estimation method. All of the calculations are performed in one pass, and no initial parameter guess, iteration, or powerful search methods are required. These features are of interest especially when the parameters of multi input-output model are estimated. The benefits of the OPM are revealed by comparing its results against those of two recently published methods based on pulse testing. The comparison is performed using two databases from the literature. These databases include single and multi input-output process transfer functions and relevant disturbances. The closed loop responses of these processes are roughly captured by the previous methods, whereas the OPM gives much more accurate results. If the parameters of a DCS are estimated, the OPM yields the same results in multi or single structure implementation. This is a novel feature, which indicates that the OPM is a convenient and practice method for the parameter estimation of multivariable DCSs.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.598-601
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• 1995

This paper proposes a federated Kalman filter approach which utilizes information from multiple sensors and variable estimation model. Compared with the decentralized Kalman filter, the algorithm proposed in this paper demonstrates much better tracking performance in both maneuvering and constant velocity movement of the target.

• Journal of Electrical Engineering and Technology
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• 제13권1호
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• pp.418-429
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• 2018

This paper studies the decentralized position/force control problem for constrained reconfigurable manipulator without torque sensing. A novel joint torque estimation scheme that exploits the existing structural elasticity of the manipulator joint with harmonic drive model is applied for each joint module. Based on the estimated joint torque and dynamic output feedback technique, a decentralized position/force control strategy is presented. In order to solve the problem of controller parameter perturbation, the non-fragile robust technique is introduced into the dynamic output feedback controller. Subsequently, the stability of the closed-loop system is proved using the Lyapunov theory and linear matrix inequality (LMI) technique. Finally, two 2-DOF constrained reconfigurable manipulators with different configurations are applied to verify the effectiveness of the proposed control scheme in numerical simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.519-522
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• 2005

Decentralized Dynamic Surface Control(DDSC) for a class of nonlinear system interconnected via sensor network is presented in this paper. While a centralized design approach of DSC was developed in [1], the decentralized approach to deal with complex large-scale systems is proposed under the assumption that interconnected functions among subsystems are known via sensor network. As shown in [2], the separation principle for DDSC will allow us to design an estimation filter independently. Furthermore, the theoretical results are used to design and simulate an active vibration isolator under the assumption that many embedded sensors are distributed and communicate each other via wireless communication.

• 한국항공우주학회지
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• 제39권11호
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• pp.1013-1020
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• 2011

본 논문에서는 이동 목표물을 추적하기 위하여, 다수 무인항공기의 측정치를 이용한 목표물의 위치와 속도 추정기법을 제안하였다. 항공기와 목표물 사이의 상대거리와 시선각 정보를 이용하여 목표물의 위치, 속도 성분을 추정하는 확장필터를 구성하였다. 다수의 항공기 간 정보교환과 계산이 용이하도록 공분산 역행렬 형태의 정보필터를 설계하였다. 개별 확장필터, 부분 분산형 확장필터, 분산형 확장필터를 이용한 수치 시뮬레이션을 수행하여, 제안된 분산형 확장필터의 이동 목표물 추정 및 추적 성능을 검증하였다.

• KIEAE Journal
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• 제6권3호
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• pp.27-34
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• 2006

The recent emphasis on ecological urban development has led to the need to maintain a hydrologic cycle in urban areas. As such, this study proposes decentralized rainwater management, a concept of onsite rainwater management that involves the utilization, infiltration, detention, and retention of rainwater. The main objective of this research is to estimate the proportion of decentralized rainwater management that is needed. From the research that was conducted in this study, it was found that the total runoff quantity increases by 10-20% after district lands are developed, when the probable rate of precipitation every 10 years is within this range. Thus, the runoff rate can be reduced by 10~20% of the total runoff quantity through decentralization. On the other hand, in the scale of housing complex development, the total runoff quantity increases by as much as 10~40% due to the changes in the rate of the impervious surface area. If 10-40% of the total runoff quantity was processed through decentralized rainwater management, the rate of infiltration, detention, retention, and runoff in precipitation prior to development could be recovered.