• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.428-432
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• 2010

In this paper, an adaptive formation control based on the leader-following approach is proposed for multiple mobile robots with time varying parameters. The proposed controller does not require the velocity information of the leader robot, which is commonly assumed that it is either measured or telecommunicated. In order to estimate time varying velocities of the leader robot, the smooth projection algorithm is employed. From the Lyapunov stability theory, it is proved that the proposed control scheme can guarantee the uniform ultimate boundedness of error signals of the closed-loop system. Finally, the computer simulations are performed to demonstrate the performance of the proposed control system.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.559-564
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• 2002

This paper describes a new algorithm named as ray following algorithm which is applied for high-resolution satellite image simulation. The problems of the conventional ray tracing algorithm are pointed out especially when terrain elevations vary abruptly. The proposed algorithm follows the directional ray vector sequentially and thoroughly in order to determine the crossing point of the ray with the terrain surface. This way of sequential height comparison method is regarded as the only way to obtain accurate surface cross-section when a highly variant digital surface model is used. The experimental results show and compare the validities of the conventional and proposed algorithms.

• Journal of information and communication convergence engineering
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• v.17 no.3
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• pp.167-173
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• 2019

This study investigates the problem of leader-following consensus for multi-agent systems with output saturations. This study assumes that the agents are described as a neutrally stable system, and the leader agent generates the bounded trajectory within the saturation level. Then, the objective of the leader-following consensus is to track the trajectory of the leader by exchanging information with neighbors. To solve this problem, we propose an observer-based distributed consensus algorithm. Then, we provide a consensus analysis by applying the Lyapunov stability theorem and LaSalle's invariance principle. The result shows that the agents achieve the leader-following consensus in a global sense. Moreover, we can achieve the consensus by choosing any positive control gain. Finally, we perform a numerical simulation to demonstrate the validity of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.45.2-45
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• 2001

In case that the perfect model following conditions are not satisfied in the system, a perfect model-following controller is difficult to apply to the system. To deal with this problem, in this paper, a robust imperfect stable model-following controller is designed by combining time delay controller and sliding mode controller based on the concept of two degrees of freedom(2-DOF) controller design method. The experimental dynamic modeling of the commercial overhead crane with capacity of two tons is carried out. To remove the noise of the measuring signals from the swing angle measurement device and estimate the state of the swing angles of the transported object at each time instant, realtime tracker is designed using Kalman filter. The performance of the designed robust controller is tested through the commercial overhead. The experimental results show that the designed controller is robust and applicable to real systems.

• Journal of Ocean Engineering and Technology
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• v.22 no.5
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• pp.142-147
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• 2008

The cases of using new methods of big blocks are largely increasing on Recent large-scale bridge structures. So the accurate data of responses of bridges following environmental causes are required to be quickly recorded in order to predict. For this reason described above, the research on measuring system should be conducted for more knowledge of the details on application and stability of new methods. In this study, the new health monitoring system that can monitor the real behavior and damages of the bridge during all processes of construction is presented by analyzing cases of domestic and overseas bridge health monitoring system, and applied methods of following bridges.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.270-273
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• 1996

A scheme of observer-based MFAC(Model Following Acceleration Control) system is proposed for the robustness control of DC servo position control systems. The proposed system is composed of LMFC, variable structure feedback controller, and reduced-order state observer. As the servo motor is controlled by the acceleration command, the total servo system becomes the acceleration control system. Simulation results show that the proposed system have robust properties against parameter variations and external disturbances.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.612-615
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• 2005

Korea Aerospace Research Institute(KARl) has been receiving Terra and Aqua MODIS data at ground station of Daejeon since July 2002. MODIS data can cover whole East Asia including the Korean Peninsula, Japan and The East China each almost scene and is monitoring ocean, atmosphere and land. By this time, over two thousand scenes have been archived including Terra and Aqua in the storage system and they occupied about over 10TB of disk space. In this study, Web-Downloading system of MODIS data developed on WWW is including following main functions: spectral subset (250m, 500m, 1000m chnnels) Level 1B data of HDF format, result display, ftp download and statistic viewer etc. Users using this system can directly download MODIS data on WWW with a few input parameters. This system is available via the Internet URL after October 2005 on the following, 'http://webmodis.kari.re.kr/'

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1133-1145
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• 2000

In this paper a model following flight control system design using the discrete time quasi-sliding mode control method is described. The quasi-sliding mode is represented as the sliding mode band, not as the sliding surface. The quasi-sliding mode control is composed of the equivalent control for the nominal system without uncertainties and disturbances and the additive control compensating the uncertainties and disturbances. The linearized plant on the equilibrium point is used in designing a flight control system and the stability conditions are proposed for the model uncertainties. Pseudo-state feedback control which uses the model variables for the unmeasured states is proposed. The proposed method is applied to the design of the roll attitude and pitch load factor control of a bank-to-turn missile. The performance is verified through the nonlinear six degrees of freedom flight simulation.

• 한국신재생에너지학회:학술대회논문집
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• 2007.11a
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• pp.369-371
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• 2007

This study suggests a modeling of grid-connected wind turbine generation system that has induction generator, and aims to perform simulations for outputs by the variation of actual wind speed and for fault current of wind generation system by the transformer winding connection. This study is implemented by matlab&simulink. The simulation shall be performed by assuming single line to ground fault generated in the system. Generator power, generator rotor speed, generator terminal current and fault current shall be observed following the performance of simulation. The fault current change will be dealt through the simulation results for fault current of wind generation system following the grid-connected transformer winding connection and the simulation result by the transformer neutral ground method.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.119-121
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• 1997

This paper suggests a design method of the robust model following PD control system using genetic algorithm. This PD control system is designed by applying genetic algorithm with reference model to the optimal determination of proportional and derivative gains that are given by PD servo controller. These proportional and derivative gains are optimized simultaneously in the search domain guaranteeing the robust stability of closed-loop system satisfying different stability margins. The effectiveness of this PD control system is verified by computer simulation.