http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
김수범(Subum Kim),서상보(Sangbo Seo),김형준(Hyoung Joon Kim),서진헌(Jin H. Seo),심형보(Hyungbo Shim) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.10
This paper considers the stabilization problem of power integrator systems. After designing an augmented system, a dynamic smooth controller is designed by using dynamic exponent scaling and backstepping techniques. The designed controller renders the origin of the closed-loop system globally exponentially stable. Since the controller may have a singularity problem, the recently developed 'degree indicator' is adopted to avoid this problem.
김수범(Subum Kim),서상보(Sangbo Seo),이성훈(Sunghun Lee),서진헌(Jin H. Seo),심형보(Hyungbo Shim) 대한전기학회 2008 대한전기학회 학술대회 논문집 Vol.2008 No.10
In this paper, the problem of stabilization for nonlinear systems with state constraints is addressed. The designed Lyapunov function guarantees that system states remain within constraints for all time and the control law constructed using backstepping renders the origin exponentially stable in the safe region.
김수범(Subum Kim),최현철(Hyoun-Chul Choi),김형준(Hyoung Joon Kim),심형보(Hyungbo Shim),서진헌(Jin Heon Seo) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
This paper deals with the consensus problem for multi-agent linear dynamic systems with parameter uncertainties. All the agents are identical high-order linear systems with parameter uncertainties and their state information is exchanged through a communication network. It is shown that a consensus is achieved if there exists a feasible solution to a set of linear matrix inequalities obtained for a simultaneous stabilization problem for multiple systems. A numerical example is presented to show the effectiveness of the proposed method.
유전자 알고리즘을 이용한 무인잠수정의 와조류장에서의 전역경로계획
이기영,김수범,송찬희,Lee, Ki-Young,Kim, Subum,Song, Chan-Hee 한국군사과학기술학회 2013 한국군사과학기술학회지 Vol.16 No.4
The purpose of this paper is to demonstrate that the genetic algorithm can be useful for the global path planning when the obstacles and current field data are given. In particular, the possibilities for a novel type small AUV mission deployment in tidal regions, which experience vortical currents, were examined. Experimental simulations show feasibility and effective in generate the global path regardless of current and obstacles. By choosing an appropriate path in space, an AUV may both bypass adverse currents which are too fast to be overcome by the vehicle's motor and also exploit favorable currents to achieve far greater speeds than motors could otherwise provide, while substantially saving energy.
최현철(Hyoun-Chul Choi),김수범(Subum Kim),김성준(Seongjun Kim),심형보(Hyungbo Shim),서진헌(Jin Heon Seo) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
This paper deals with the consensus problem for multi-agent linear dynamic systems with communication delay. All the agents are identical high -order linear systems and their state information is exchanged through a communication network with constant communication delay. It is shown that a consensus is achieved if there exists a feasible solution to a set of linear matrix inequalities obtained for a simultaneous stabilization problem for multiple systems with delay. A numerical example is presented to show the effectiveness of the proposed method.
이기영(Ki-Young Lee),김수범(Subum Kim),송창희(Chan-Hee Song) 한국해양공학회 2012 韓國海洋工學會誌 Vol.26 No.4
This paper deals with the global path planning problem for AUVs(autonomous underwater vehicles) in a tidal current field. The previous researches in the field were unsuccessful at simultaneously addressing the two issues of obstacle avoidance and tidal current-based optimization. The use of a genetic algorithm is proposed in this paper to move past this limitation and solve both issues at once. Simulation results showed that the genetic could be applied to generate an optimal path in the field of a tidal current with multiple obstacles.