• Advances in aircraft and spacecraft science
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• v.6 no.5
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• pp.371-389
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• 2019

The implementation of a robust $H_{\infty}$ Control, which is numerically efficient for uncertain nonlinear dynamics, on longitudinal and lateral autopilots is realised for a quarter scale Piper J3-Cub model accepted as an unmanned aerial vehicle (UAV) under the condition of sensor noise and disturbance effects. The stability and control coefficients of the UAV are evaluated through XFLR5 software, which utilises a vortex lattice method at a predefined flight condition. After that, the longitudinal trim point is computed, and the linearization process is performed at this trim point. The "${\mu}$-Synthesis"-based robust $H_{\infty}$ control algorithm for roll, pitch and yaw displacement autopilots are developed for both longitudinal and lateral linearised nonlinear dynamics. Controller performances, closed-loop frequency responses, nominal and perturbed system responses are obtained under the conditions of disturbance and sensor noise. The simulation results indicate that the proposed control scheme achieves robust performance and guarantees stability under exogenous disturbance and measurement noise effects and model uncertainty.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• Journal of the Korean Statistical Society
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• v.23 no.1
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• pp.33-38
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• 1994

The OLS-estimator of the distribance variance in the linear regression model is shown to be asymptotically unbiased when the disturbances are MA(1)-process or particular s-th autocorrelated AR(s)-process.

• Korean Journal of Cognitive Science
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• v.6 no.1
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• pp.47-71
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• 1995

A psychological disturbance caused by letters in double image was termed as'letter sickness'.The effects of stimulus exposure time and letter familiarity on the letter sickness were measured to test a hypothesis that disturbances in eye movement and recognition stages is the cause of letter sickness.Letter sickness incteased significantly as stimulus exposure time lengthened from 50ms,100ms,to 3000ms.It was also significantly higher with familiar Hangul letters as compared with less familiar foreign letters and meaningless words as compared with meaningful words,respectively.These experimental findings imply that letter sickness is caused by the failure of adjusting eye movements to dismiss the double images.that the more familiar the letters.the more strongly the letter-identification process is commotted,resulting in the increased effect of disturbance from double image.and that the disturbance effect of double image is amplified when it is hard to extract the meaning from familiar letters.An experiment where subjects were made to learn Braille-like symbols consisting of 6 dots to test the hypothesis that the stronger the tendency to process the meaning of a symbol,the stronger becomes letter sickness due to double image,also showed that letter sickness significantly increased as a function of learning.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.2
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• pp.237-244
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• 2012

This paper studies the design of a two-DOF optimal controller for the strip gauge-tension of cold tandem mill processes, that uses a reference shaping filter and a disturbance observer. First, a mathematical model of the strip gauge and tension system is constructed using the gauge meter equation and Hooke's law, respectively. Next, a two-DOF controller considering of a feedforward controller and a feedback controller is designed. The former is based on the reference shaping filter and the disturbance observer, and the latter is based on the ILQ optimal control algorithm. Finally, it is shown through a computer simulation that the proposed optimal controller is able to improve the strip gauge accuracy and the tension variation more than the conventional MV-AGC controller.

• Journal of Korean Society on Water Environment
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• v.26 no.1
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• pp.160-167
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• 2010

In this research, the performance evaluation between an alternating type process and a recirculating type process was investigated by using mathematical models. The Advanced Phase Isolation Ditch (APID) process and the $A^2/O$ process were selected the target processes of the alternating type and recirculating type, respectively. For more quantitative evaluation, 5 performance indexes which included economy and energy efficiency as well as effluent quality were used, and various disturbance conditions of influent were given to the process models. As simulation results, the APID process which had the specific operation modes to use the organic matter in influent effectively showed higher efficiency of denitrification than the $A^2/O$ process. In the case of effluent TSS, the $A^2/O$ process that the retention time in reactors could be maintained stably was more effective than the APID process. In the cases of various disturbance condition, although it was identified that both two processes had similar effluent quality, the sludge production of the $A^2/O$ process showed lower than that of the APID process while the APID process showed higher energy efficiency.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.4
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• pp.730-738
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• 2007

As well known when the linear machine is operated between two points repeatedly under positioning control, there are various positioning error at the moment of zero speed owing to the non-linear disturbance like as unpredictable friction force. To remove this positioning error, a simple least order disturbance observer is introduced and is actually implemented in this study. Due to this simple algorithm the over-all machine system can be modified to simple arbitrary given one-mass load without any disturbance. So, the total construction process for positioning control system is much easier than old one. Moreover, to generate a proper effective position profile with the limited actual machine force, a very powerful on-line mass identification algorithm using the load force estimator is presented. In the proposed mass identification algorithm, the exact load mass can be calculated during only one moving stage under a normally generated position profile. All presented algorithm is verified with experimental result with commercial linear servo machine system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.12
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• pp.2046-2052
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• 2016

Ramp metering is one of the most efficient and widely used control methods for an intelligent transportation management system on a freeway. Its objective is to control and upgrade freeway traffic by regulating the number of vehicles entering the freeway entrance ramp, in such a way that not only the alleviation of the congestion but also the smoothing of the traffic flow around the desired density level can be achieved for the maintenance of the maximum mainline throughput. When the cycle of the signal detection is larger than that of the system process, the density tracking problem needs to be considered in the form of the discrete-time system. Therefore, a discrete-time sliding mode control method is proposed for the ramp metering problem in the presence of both input constraint in the on-ramp and exogenous disturbance in the off-ramp considering the random behavior of the driver. Simulations were performed using a validated second-order macroscopic traffic flow model in Matlab environment and the simulation results indicate that proposed control method can achieve better performance than previously well-known ALINEA strategy in the sense that mainstream flow throughput is maximized and congestion is alleviated even in the presence of input constraint and exogenous disturbance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.4A
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• pp.363-369
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• 2004

We propose, for the first time to our knowledge, a novel gain-clamping method for EDFA in WDM add/drop networks by introducing a disturbance observer technique. The control input signal for gain-clamping is composed of a nominal control signal and an additional control signal of compensating the gain fluctuations caused by channel add/drops. Based on disturbance observer technique, we designed the additional control signal such that it has the compensating information of estimated disturbance resulted from channel add/drops. The circuit for generating additional control signal can easily be implemented by using simple electronic devices. We proved the superiority of the new technique over the previous ones by showing simulation results of minimized dips and spikes that appear in power profile of EDFA in the process of channel add/drops.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.59 no.2
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• pp.145-154
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• 2023

In this study, to control the heading angle of a ship, which is constantly subjected to various internal and external disturbances during the voyage, an LADRC (linear active disturbance rejection control) design that focuses more on improving the disturbance removal performance was proposed. The speed rate of change of the ship's heading angle due to the turn of the rudder angle was selected as a significant factor, and the nonlinear model of the ship's maneuvering equation, including the steering gear, was treated as a total disturbance. It is the similar process with an LADRC design for the first-order transfer function model. At this time, the gains of the controller included in LADRC and the gains of the extended state observer were tuned to RCGAs (real-coded genetic algorithms) to minimize the integral time-weighted absolute error as an evaluation function. The simulation was performed by applying the proposed GA-LADRC controller to the heading angle control of the Mariner class vessel. In particular, it was confirmed that the proposed controller satisfactorily maintains and follows the set course even when the disturbances such as nonlinearity, modelling error, uncertainty and noise of the measurement sensor are considered.