• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.23 no.1
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• pp.14-20
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• 2012

CoMP(Coordinated Multi-Point transmission and reception) refers to a cooperative transmission strategy to control the interference from adjacent base stations in cellular mobile communication systems, which efficiently enhances the data throughput of the systems. As the number of the base stations participating in cooperative transmission increases, however, a larger amount of information exchange to carry the CSI(Channel State Information) of the mobile terminals is required. In this paper, we propose a partial CoMP transmission method for systems under the constraint of finite feedback information data. This method selects candidates of base stations which can provide high efficiency gain when they participate in the CoMP set. To achieve this, the cooperative base station combination is constructed by considering the preferred base stations of users. The cooperative base station combinations are dynamically applied since the preferred base station combinations of users may be different. We perform computer simulations to compare performance of the non-CoMP, full-CoMP and partial CoMP in terms of the average throughput using finite feedback and demonstrate the performance improvement of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.12
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• pp.126-132
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• 1999

The paper presents the modeling and optimal control for the reduction of transverse vibration of simply supported beam under a moving mass. The equations of motion are derived by using assumed mode method. The coriolis and centripetal accelerations are accommodated in the equations of motion to account for the dynamic effect of the traveling mass. In order to reduce the transverse vibration of the beam, an optimal controller with full state feedback is designed based on the linearized equations of motion. The optimal actuator locations are determined with the evaluation of an optimal cost functional defined by the worst initial condition with the trade-off of controlled mode performance. Numerical simulations are performed with respect to various velocities and different traveling masses. Even if the velocity of the traveling mass reaches to the critical speed which can cause the resonance of the beam, the controller with two piezoelectric actuators shows the excellent performance under severe time-varying disturbances of the system.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.4
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• pp.1-9
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• 2012

The NCF control algorithm for an active suspension system was proposed and investigated. The NCF algorithm using spring dynamic variation force and suspension relative velocity was applied to the 1/4 vehicle model and numerical analysis was performed. Vehicle's performances such as vehicle displacement, vehicle acceleration, suspension deflection, tire deflection and absorbed power were calculated and compared with those of the passive, semi-active and LQR active suspension system that use full state feedback. Numerical results show that the proposed NCF active suspension system has superior performance compared with the passive and semi-active suspension system and has very similar performance compared with the LQR active suspension system. So the proposed NCF algorithm is considered as a highly practical algorithm because it requires only one displacement sensor in a 1/4 vehicle model.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.25 no.1
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• pp.18-23
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• 1989

An approach for robustness recovery of the observer-based control system is presented. The approach is developed by adding a loop with appropriate constant matrix to the observer-based closed-loop system. It will be shown that if there exists an added-loop matrix M satisfying F=MC for a feedback gain F and output matrix C, then the observer-based control systems have the same loop transfer functions as full-state feedback implementations, in other words, the former has the same relative stability and robustness as the latter.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.912-918
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• 2016

This paper presents various strategies for humanoid vehicle driving and egress tasks. For driving, a tele-operating system that controls a robot based on a human operator's commands is built. In addition, an autonomous assistant module is developed for the operator. Normal position control can result in severe damage to robots when they egress from vehicles. To prevent this problem, another approach that mixes various joint control techniques is adopted in this study. Additionally, a footplate is newly designed and attached to the vehicle floor for the ground landing phase of the egress task. The attached plate enables the robot to step down onto the ground in a safe manner. For stable locomotion, a balance controller is designed for the humanoid. For the design of the controller, the robot is modeled using an inverted pendulum that consists of a spring and a damper. Then, a state feedback controller (with pole placement and a state observer) is built based on the simplified model. Many approaches that are presented in this paper were successfully applied to a full-sized humanoid, DRC-HUBO+, in the DARPA Robotics Challenge Finals, which were held in the United States in 2015.

• Journal of the Earthquake Engineering Society of Korea
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• v.5 no.6
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• pp.37-46
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• 2001

In this research, a controller design method based on optimization is proposed that can satisfy constraints on maximum responses of building structures subject to around excitation modeled by partially stochastic process. The class of controllers to be optimized is restricted to LQR. Weighting matrix on controlled outputs is used as design variable. Objective function, constraint functions and their gradients are computed by the parameterization of control gain with Riccati matrix. Full state feedback controllers designed by proposed optimization method satisfy various design objectives and their necessary maximum control forces are computed for the production of actuator. LQG controllers composed of Kalman filter and LQR designed by proposed method perform well with little deterioration. So it is possible to design output feedback controllers satisfying constraints on various maximum responses of structures.