• 한국정밀공학회지
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• 제26권6호
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• pp.59-67
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• 2009

This paper addresses the control method for skating motion with a nonholonomic constraint. In order to generate a human-like skating motion, the behaviors of motion are distinctively analyzed into transient state and steady state. A close investigation of the behaviors evolved the characteristic of successive motions with transient state and steady state. Simulation results were intuitively comprehensible, and the effectiveness of control method was demonstrated for skating motion.

• International Journal of Control, Automation, and Systems
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• 제5권2호
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• pp.218-222
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• 2007

This paper presents a new Perfect Tracking Control (PTC) scheme for linear systems with state constraint. The proposed controller increases the number of the steps on-line for perfect tracking to satisfy the given ellipsoid-type state constraint. The unavoidable step delay that we impose is minimized by solving LMI feasibility problems and the possible feedback information loss is avoided. The proposed schemes are easy to develop, theoretically simple and clear, and include the conventional PTC as its special case.

• 대한전자공학회논문지
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• 제12권4호
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• pp.15-20
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• 1975

원자로의 출력을 초기상태에서 요구표적 상태로 증가시켜 주는 과도기간중 출력의 Overshoot가 생기는데 이 Overshoot에 구속조건을 두는 것은 원자로를 제각함에 있어 안전사 매우 중요하다. 따라서 출력이 요구 최대허용 구동영역을 넘지 않도록 반응도를 조절하면서 초기값(no, co)에서 최종같인 요구값(2no,2co) 또는 (1. 5no,1.5co)로 출력을 증가시키는데 최대원리(Maximum principle)를 적용하였다. 그리고 이때의 스위청점, 스위청시간 및 최적제각 반응도를 구하였다. The power overshoot is rises in the output during the transient period when the output of nuclear reactor is increased from the initial state to the desired target state and certain amount of constraint on power level is of primary importance for safety control of nuclear reactor. Therefore, the maximum principle is applied to this process control in transfering its power from the initial state(no, co) to the final target state(2no, 2co or 1.5no, 1.5co), adjusting the reactivity so that its overshoot is limited within the allowable constraint required. In this case, the switching points, switching times, optimal lima and optimal control reactivity are calculated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.530-535
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• 2004

This paper considers a state set estimation (SSE) based model predictive control (MPC) for linear parameter- varying (LPV) systems with input constraint. We estimate, at each time instant, a feasible set of all states which are consistent with system model, measurements and a priori information, rather than the state itself. By combining a state-feedback MPC and an SSE, we design an SSE-based MPC algorithm that stabilizes the closed-loop system. The proposed algorithm is solved by semi-de�nite program involving linear matrix inequalities. A numerical example is included to illustrate the performance of the proposed algorithm.

• Asia Marketing Journal
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• 제18권4호
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• pp.125-138
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• 2017

The goal of the study is to understand how consumers' constraint as opposed to utility structure gives rise to final decision when consumers purchase more than one variant of product at a time, i.e., horizontal variety seeking or multiple-discreteness. Purchase and consumption decision not only produces utility but also involves some sort of cognitive pressure. Past consumption or last purchase is likely to be linked to this burden we face such as concern for obesity, risk of harm, and guilt for mischief. In this research, the existence and the role of dynamic constraint are investigated through a microeconomic utility model with multiple dynamic constraint. The model is applied to the salty snacks data collected from field study where burden for spiciness serves as a constraint. The results are compared to the conventional multiple discreteness choice models of static constraints, and policy implications on price discounts is explored. The major findings are that first, one would underestimate the level of consumer preference for product offerings when ignoring the carry-over of the concern from the past consumption, and second, the impact of price promotion on demand would be properly evaluated when the model allows for the role of constraint as both multiple and dynamic. The current study is different from the existing studies in two ways. First, it captures the effect of 'mental constraint' on demand in formal economic model. Second, unlike the state dependence well documented in the literature, the study proposes the notion of state dependence in different way, via constraint rather than utility.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.122-131
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• 2004

A constraint equation-based control law design for large angle attitude maneuvers of flexible spacecraft is addressed in this paper The tip displacement of the flexible spacecraft model is prescribed in the form of a constraint equation. The controller design is attempted in the way that the constraint equation is satisfied throughout the maneuver. The constraint equation leads to a two-point boundary value problem which needs backward and forward solution techniques to satisfy terminal constraints. An observer-based tracking control law takes the constraint equation as the input to the dynamic observer. The observer state is used in conjunction with the state feedback control law to have the actual system follow the observer dynamics. The observer-based tracking control law eventually turns into a stabilized system with inherent nature of robustness and disturbance rejection in LQR type control laws.

• Journal of electromagnetic engineering and science
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• 제11권2호
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• pp.128-132
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• 2011

In interference tolerance based spectrum sharing systems, primary receivers (PRs) are protected by a predefined peak or average interference power constraint. To implement such systems, cognitive radio (CR) transmitters are required to adjust their transmit power so that the interference power received at the PR receivers is kept below the threshold value. Hence, a CR-transmitter requires knowledge of its channel and the primary receiver in order to allocate the transmit power. In practice, it is impossible or very difficult for a CR transmitter to have perfect knowledge of this channel state information (CSI). In this paper, we investigate the impact of imperfect knowledge of this CSI on the performances of both a primary and cognitive radio network. For fixed transmit power, average interference power (AIP) constraint can be maintained through knowledge of the channel distribution information. To maintain the peak interference power (PIP) constraint, on the other hand, the CR-transmitter requires the instantaneous CSI of its channel with the primary receiver. First, we show that, compared to the PIP constraint with perfect CSI, the AIP constraint is advantageous for primary users but not for CR users. Then, we consider a PIP constraint with imperfect CSI at the CR-transmitter. We show that inaccuracy in CSI reduces the interference at the PR-receivers that is caused by the CR-transmitter. Consequently the proposed schemes improve the capacity of the primary links. Contrarily, the capacities of the CR links significantly degrade due to the inaccuracy in CSI.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.534-537
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• 1995

In this paper, we propose a control strategy for a class of nonholonomic systems. A system with nonholonomic constraint is called a nonholonomic system, and as Brockett showed, the equilibrium of such systems can not be stabilized with any continuous static state feedbacks even though the system is controllable in the sense of nonlinear. A control strategy we propose is transforming this system into time-state control form by coordinate transformation and input transformation. We will apply this control strategy to the motion control of a rigid ball that is held between two parallel plates.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권3호
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• pp.542-559
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• 2011

Most game-theoretic works of Aloha have emphasized investigating Nash equilibria according to the system state represented by the number of network users and their decisions. In contrast, we focus on the possible change of nodes' utility state represented by delay constraint and decreasing utility over time. These foregone changes of nodes' state are more likely to instigate selfish behaviors in networking environments. For such environment, in this paper, we propose a repeated Bayesian slotted Aloha game model to analyze the selfish behavior of impatient users. We prove the existence of Nash equilibrium mathematically and empirically. The proposed model enables any type of transmission probability sequence to achieve Nash equilibrium without degrading its optimal throughput. Those Nash equilibria can be used as a solution concept to thwart the selfish behaviors of nodes and ensure the system stability.

• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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• pp.129-140
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• 2023

Autonomous driving systems are likely to be operated in various complex environments. However, the well-known integrated Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS), which is currently the major source for absolute position information, still has difficulties in accurate positioning in harsh signal environments such as urban canyons. To overcome these difficulties, integrated Visual/Inertial/GNSS (VIG) navigation systems have been extensively studied in various areas. Recently, a Compressed-State Constraint Kalman Filter (CSCKF)-based VIG navigation system (CSCKF-VIG) using a monocular camera, an Inertial Measurement Unit (IMU), and GNSS receivers has been studied with the aim of providing robust and accurate position information in urban areas. For this new filter-based navigation system, on the basis of time-propagation measurement fusion theory, unnecessary camera states are not required in the system state. This paper presents a performance evaluation of the CSCKF-VIG system compared to other conventional navigation systems. First, the CSCKF-VIG is introduced in detail compared to the well-known Multi-State Constraint Kalman Filter (MSCKF). The CSCKF-VIG system is then evaluated by a field experiment in different GNSS availability situations. The results show that accuracy is improved in the GNSS-degraded environment compared to that of the conventional systems.