• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1492-1495
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• 1996

In this paper, an approach to autopilot design based on the robust nonlinear dynamic inversion method is proposed. Both unknown parameters and uncertainty bounds are estimated and parameter estimates are used in the fast inversion. Furthermore, to get more robustness slow inversion is incorporated with MRAC(Model Reference Adaptive Control) and sliding mode control where the estimates of uncertainty bounds are used. The proposed method is applied to the pitch autopilot design of a missile system and excellent performance is shown via computer simulation.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.2
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• pp.53-60
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• 2007

This paper presents a robust nonlinear autopilot design method based on dynamic inversion and PI(Proportional-Integral) control law. The new controller structure which is different from previous work is composed of classical linear PI control law and nonlinear fast dynamic inversion. A pitch axis model of highly maneuverable missiles and a linearized model for designing Pl controller are presented. The performance of proposed method is illustrated via nonlinear simulations including aerodynamic uncertainties and actuator dynamics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.3
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• pp.562-568
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• 1998

During the past three decades, several techniques have been suggested for robust performance design of multivariable systems within the framework of Quantitative Feedback Theory. They are all characterized and limited by the use of loop transmission inversion. A new approach within framework is described which leads to a design tehnique without loop transmission inversion. Complete sequential design algorithms are derived for performance specifications in terms of plant input disturbance, sensitivity, complimentary sensitivity and control effort.

• 한국지구물리탐사학회:학술대회논문집
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• 2007.06a
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• pp.118-123
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• 2007

A robust objective function in the frequency domain is applied to the acoustic full waveform inversion. The proposed objective function is defined as $l_1$-norm of residual wavefields in the frequency domain. Generally, the full waveform inversion is extremely sensitive to a number of factors such as parameterization, initial model, noise and so on. The numerical tests were performed for checking the sensitivity to attenuation and several noises. For the comparison with other objective functions, the conventional least-squares method and the logarithmic method were tested under the same condition. The synthetic data examples show that the proposed algorithm is more robust than the well-known methods.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.1
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• pp.21-26
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• 2001

In this study, we propose a two degree of freedom robust output tracking control method for a class of nonlinear system. We consider hyperbolically nonminimum phase single-input single-output uncertain nonlinear systems. We also consider the case that the nominal input-state equation is differentially flat. Nominal stable state trajectory is obtained in the flat output space via the flat output. Nominal feedforward control input is also computed from the nominal state trajectory. Due to the nature of the method, the generated flat output trajectory and control input are noncausal. Robust feedback control is designed to stabilize the systems around the nominal trajectory. A numerical example is given is given to demonstrate that robust tracking is achieved.

• Geophysics and Geophysical Exploration
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• v.10 no.2
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• pp.124-130
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• 2007

Least squares ($l^2$ norm) solutions of seismic inversion tend to be very sensitive to data points with large errors. The $l^1$ norm minimization gives more robust solutions, but usually with higher computational cost. Iteratively reweighted least squares (IRLS) method gives efficient approximate solutions of these $l^1$ norm problems. I propose an efficient implementation of the IRLS method for a hybrid $l^1/l^2$ minimization problem that behaves as $l^2$ norm fit for small residual and $l^1$ norm fit for large residuals. The proposed algorithm shows more robust characteristics to the decision of the threshold value than the l1 norm IRLS inversion does with respect to the threshold value to avoid singularity.

• 한국지구물리탐사학회:학술대회논문집
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• 2007.06a
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• pp.124-129
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• 2007

For seismic imaging and inversion, the inverted image depends on how we define the objective function. ${\ell}^1$-norm is more robust than ${\ell}^2$-norm. However, it is difficult to apply the Newton-type algorithm directly because the partial derivative for ${\ell^1$-norm has a singularity. In our paper, to overcome the difficulties of singularities, Huber function given by hybrid ${\ell}^1/{\ell}^2$-norm is used. We tested the robustness of our new object function with several noisy data set. Numerical results show that the new objective function is more robust to band limited spiky noise than the conventional object function.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1500-1503
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• 1996

This paper combines the disturbance accommodating control(DAC) and nonlinear model inversion control for a skid-to-turn(STT) missile. The missile autopilot may be designed to be robust with respect to a variety of uncertainties. We proposes the two step control design method. Nonlinear model inversion control is used as the main design method. Due to the model uncertainties and external disturbances, the exact nonlinear model inversion can not be achieved. DAC is designed to detect, to identify, and to compensate these uncertainties. DAC's disturbance observer is linear. Thus it is easy to implement. It does not cause the convergence problem due to coexistence between the modeling uncertainties and external disturbances. 6 DOF simulation results show that the proposed method may improve the missile tracking performance.

• 한국지구물리탐사학회:학술대회논문집
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• 2007.06a
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• pp.209-214
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• 2007

In Korean geology that crystalline rock is dominant, the properties of subsurface including the anisotropy are distributed complexly and changed abruptly. Because of such geological environments, cross-hole seismic traveltime tomography is widely used to obtain the high resolution image of the subsurface for the engineering purposes in the geotechnical sites. However, because the cross-hole tomography has a wide propagation angle coverage relatively, its data tend to include the seismic velocity anisotropy comparing with the surface seismic methods. It can cause the misinterpretation that the cross-hole seismic data including the anisotropic effects are analyzed and treated with the general processing techniques assuming the isotropy. Therefore, we need to consider the seismic anisotropy in cross-hole seismic traveltime tomography. The seismic anisotropic tomography algorithm, which is developed for evaluation of the velocity anisotropy, includes several inversion schemes in order to make the inversion process stable and robust. First of all, the set of the inversion parameters is limited to one slowness, two ratios of slowness and one direction of the anisotropy symmetric axis. The ranges of the inversion parameters are localized by the pseudo-beta transform to obtain the reasonable inversion results and the inversion constraints are controlled efficiently by ACB(Active Constraint Balancing) method. Especially, the inversion using the Fresnel volume is applied to the anisotropic tomography and it can make the anisotropic tomography more stable than ray tomography as it widens the propagation angle coverage.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2002.03a
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• pp.20-27
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• 2002

Conventional Levenberg-Marquardt's nonlinear inversion method is simply modified by taking into account the second derivatives of the Hessian matrix so as to give robust inversion results. The weight of the second derivative terms is determined by the value of so-called λ in Levenberg-Marquardt's method. The new inversion method is applied to observed data from small-to-moderate earthquakes to simultaneously evaluate the modes parameters of the stochastic point-source model in and around the Korean Peninsula. Best estimates of the stochastic model parameters are obtained along with their statistics and compared with the previous results. Overall characteristics of the model parameters are found to be more of those of interplate than intraplate tectonic region.