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A Novel Method for LQG Control of Singularly Perturbed Continuous Stochastic Systems
Myo-Taeg Lim 한국정보과학회 1999 Journal of Electrical Engineering and Information Vol.4 No.2
In this paper we derive the exact composite control of singularly perturbed linear systems and apply this method to obtain the solution of the linear-quadratic Gaussian (LQG) control problem for singularly perturbed linear stochastic systems. The results obtained are stronger than the corresponding ones of the famous composite control of Chow and Kokotovic [11]. It is shown that the optimal LQG control problem takes the complete decomposition and parallelism between pure-slow and pure-fast filters and controllers.
A Study on the solution of Equations for Decomposition of Singularly Perturbed Systems
Lim, Myo Taeg 고려대학교 공학기술연구소 1997 공학논문집 Vol.34 No.1
This paper presents an approach to solve algebraic equations composing the Chang transformation, which plays an important role in the study of linear singularly perturbed systems. The algebraic equations, which are composed of a weakly nonlinear equation and a linear Lyapunov type equation, are solved by using the eigenvector method. 1'he proposed method yields results of a very high accuracy, compared with the wellknown existing recursive methods - the fixed-point method and the Newton type recursive scheme. A numerical example is considered to demonstrate the efficiency of the method.
Young-Joong Kim,Myo-Taeg Lim 대한전기학회 2006 International Journal of Control, Automation, and Vol.4 No.6
This paper presents a new algorithm for the closed-loop H∞ composite control of weakly coupled bilinear systems with time-varying parameter uncertainties and exogenous disturbance using the successive Galerkin approximation (SGA). By using weak coupling theory, the robust H∞ control can be obtained from two reduced-order robust H∞ control problems in parallel. The H∞ control theory guarantees robust closed-loop performance but the resulting problem is difficult to solve for uncertain bilinear systems. In order to overcome the difficulties inherent in the H∞ control problem, two H∞ control laws are constructed in terms of the approximated solution to two independent Hamilton-Jacobi-Isaac equations using the SGA method. One of the purposes of this paper is to design a closed-loop parallel robust H∞ control law for the weakly coupled bilinear systems with parameter uncertainties using the SGA method. The other is to reduce the computational complexity when the SGA method is applied to the high order systems.
3D Vision-Based Local Path Planning System of a Humanoid Robot for Obstacle Avoidance
Tae-Koo Kang,Myo-Taeg Lim,Gwi-Tae Park,Dong W. Kim 대한전기학회 2013 Journal of Electrical Engineering & Technology Vol.8 No.4
This paper addresses the vision based local path planning system for obstacle avoidance. To handle the obstacles which exist beyond the field of view (FOV), we propose a Panoramic Environment Map (PEM) using the MDGHM-SIFT algorithm. Moreover, we propose a Complexity Measure (CM) and Fuzzy logic-based Avoidance Motion Selection (FAMS) system to enable a humanoid robot to automatically decide its own direction and walking motion when avoiding an obstacle. The CM provides automation in deciding the direction of avoidance, whereas the FAMS system chooses the avoidance path and walking motion, based on environment conditions such as the size of the obstacle and the available space around it. The proposed system was applied to a humanoid robot that we designed. The results of the experiment show that the proposed method can be effectively applied to decide the avoidance direction and the walking motion of a humanoid robot.