• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.178-184
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• 2002

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. In order to reduce alignment errors induced by ship body flexure, a linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to the dominant y axis component and defining the flexure state of random constant type. And then a robust state estimation scheme is introduced to account for modeling uncertainty of the flexure. By interpreting the simulation results and comparing with the velocity and DCM(Direction Cosine Matrix) partial matching method, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.15-23
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• 2008

This paper considers the problem of delay-dependent guaranteed cost controller design for uncertain neutral systems with distributed delays. The system under consideration is subject to norm-bounded time-varying parametric uncertainty appearing in all the matrices of the state-space model. By constructing appropriate Lyapunov functionals and using matrix inequality techniques, a state feedback controller is designed such that the resulting closed-loop system is not only robustly stable but also guarantees an adequate level of performance for all admissible uncertainties. Furthermore, a convex optimization problem is introduced to minimize a specified cost bound. By matrix transformation techniques, the corresponding optimal guaranteed controller can be obtained by solving a linear matrix inequality. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed approach.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.4
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• pp.216-223
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• 2015

The autonomous underwater vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This research focuses on using image processing techniques to estimate the AUV's egomotion and the changes in orientation, based on image frames from different time frames captured from a single high-definition web camera attached to the bottom of the AUV. A visual odometry application is integrated with other sensors. An internal measurement unit (IMU) sensor is used to determine a correct set of answers corresponding to a homography motion equation. A pressure sensor is used to resolve image scale ambiguity. Uncertainty estimation is computed to correct drift that occurs in the system by using a Jacobian method, singular value decomposition, and backward and forward error propagation.

• Journal of Aerospace System Engineering
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• v.8 no.4
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• pp.7-17
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• 2014

Objective of this paper is to introduce a new technology known as prognostics and health management (PHM) which enables a real-time life prediction for safety critical systems under extreme loading conditions. In the PHM, Bayesian framework is employed to account for uncertainties and probabilities arising in the overall process including condition monitoring, fault severity estimation and failure predictions. Three applications - aircraft fuselage crack, gearbox spall and battery capacity degradation are taken to illustrate the approach, in which the life is predicted and validated by end-of-life results. The PHM technology may allow new maintenance strategy that achieves higher degree of safety while reducing the cost in effective manner.

• Journal of the Korean Geophysical Society
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• v.6 no.2
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• pp.79-87
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• 2003

An in-situ four-electrode contact resistivity probe system was designed, and field-tested in submarine sediments. Seismic survey was also performed to support and compare the results of electric survey. The probe was designed to be driven to selected depths below the seafloor using a Vibracore system. The four insulated electrodes were, spaced equidistant across the wedge, were extended beyond the probe tip to minimize effects of sediment disturbance by the wedge insertion. In-situ measurements of resistivity were recorded on board by precision electronic equipment consisting of signal generators and processors, and by temperature- monitoring systems. Overall limits of uncertainty at respective depths below the seafloor are up to ±10% of the measured values. Best estimates of conductivity are considered to be ±3 percent of the reported values. Resistivity measurements were made at six sites in carbonate sediments to a maximum depth of penetration of about 5 m. Average values of conductivity range between 0.88 and 1.21 mho/m. The results show the seabed is composed of alternating layers of relatively high-conductivity material (0.8 to 1.4 mho/m) in thicknesses of more or less one meter and layers about 30 cm thick having relatively low conductivities (0.4 to 0.8 mho/m).

• Journal of the Korean Society for Precision Engineering
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• v.20 no.10
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• pp.130-140
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• 2003

This paper presents an $H_\infty$controller synthesis based on disturbance observer for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, hydraulic excavator have more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_\infty$frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1195-1198
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• 1993

We investigate a systematic design procedure of automated rule generation of fuzzy logic based controller for uncertain dynamic systems such as an engine dynamic model.“Automated Tuning”means autonomous clustering or collection of such meaningful transitional relations in the state-space. Optimal control strategies are included in the design procedures, such as minimum squared error, minimum time, minimum energy or combined performance criteria. Fuzzy feedback control systems designed by the cell-state transition method have the properties of closed-loop stability, robustness under parameter variabtions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller design to a highly nonlinear model of engine idle speed contr l.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.84-87
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• 2002

This paper presents an adaptive PID control scheme with fuzzy model for nonlinear system. TSK(Takagi-Sugeno-Kang) fuzzy model was used to estimate the error of control input, and the parameter of PID controller was adapted from the error The parameter of TSK fuzzy model was also adapted to plant by comparing the activity output of plant and model output. PID controller which was adapted the uncertainty of nonlinear plant and the change of parameter can be designed by using the presented method. The usefullness of algorithm which was proposed by the simulation of several nonlinear system was also certificated.

• 유체기계공업학회:학술대회논문집
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• 2003.12a
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• pp.373-378
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• 2003

In this paper, build up of fan performance tester in KITECH was introduced. The fan tester was set up based on AMCA standards 210-99, ANSI/ASHRAE 51-1999 with maximum flowrate within $1000\;m^{3}/min$. Both of inlet and outlet chamber setup with multiple nozzles described in AMCA 210 were established. The development of fully automatic control and measurement system are described. With this system, the accuracy of fan performance test can be maintained through the various flowrate and the uncertainty can be reduced.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.5
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• pp.553-559
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• 1999

The robust control problem of the linear systems with uncertainty is classified as the robust stability problem guaranteeing the stability and the robust performance problem guaranteeing the disired performance. In this paper, we considered the robust performance analysis problem, which find the upper buund of the quadratic performance of the uncertain linear system, and the robust guaranteed performance controller design problem which design a controller guaranteeing the desired quadratic performance. At first, we treated the analysis problem and presented the two results; one is dependent on the performance of the nominal system and another is independent on this. And we treated the design method guaranteeing the desired performance for the uncertain linear systems, Finally, we show the usefulness of our results by numerical examples.